Robot Wrapper

[jcarpent]

Create a robot wrapper similar to the existing python class containing a model and several data store in a vector achieving the interface between (model,data) and the main algorithms.

@aelkhour Do you have some precise requests?

[aelkhour]

• Not throwing exceptions would be great.
• Not making explicit dynamic allocations (using new operator) would be great.

If this conflicts with your development roadmap, then no worries.

[jcarpent]

Concerning the exceptions, why this precise request?

[aelkhour]

Our whole code base is supposed to be exception-free. I know this is not currently the case in pinocchio, which is why this is not a hard requirement.

[jcarpent]

Ok. If you want you can just use the instruction -fno-exceptions with gcc.
I think for lambda user, exceptions are mandatory that why we try to populate our code with them.

[aelkhour]

Noted, thanks.

[nmansard]

It indeed is: please no throw in construction and destruction (just
image what can of torture you are generating on the poor stack when
creating memory with a destruction phase to throw something).

On 02/22/2016 04:44 PM, Antonio El Khoury wrote:

Our whole code base is supposed to be exception-free. I know this is
not currently the case in pinocchio, which is why this is not a hard
requirement.

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[jcarpent]

A robot wrapper have been implemented in https://github.com/stack-of-tasks/tsid