20 #ifndef HPP_PINOCCHIO_GRIPPER_HH 21 # define HPP_PINOCCHIO_GRIPPER_HH 44 const DeviceWkPtr_t& device)
53 const DeviceWkPtr_t& otherDevice)
78 const std::string&
name ()
const 98 clearance_ = clearance;
103 std::ostream& print (std::ostream& os)
const;
111 Gripper (
const std::string& name,
const DeviceWkPtr_t& device);
113 void init (GripperWkPtr_t weakPtr)
122 DeviceWkPtr_t device_;
129 GripperWkPtr_t weakPtr_;
134 return gripper.
print (os);
139 #endif // HPP_PINOCCHIO_GRIPPER_HH void clearance(const value_type &clearance)
Definition: gripper.hh:96
Utility functions.
Definition: body.hh:30
const JointPtr_t & joint() const
Get joint to which the gripper is attached.
Definition: gripper.hh:63
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
Definition: gripper.hh:37
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:113
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
void init(GripperWkPtr_t weakPtr)
Definition: gripper.hh:113
double value_type
Definition: fwd.hh:40
Definition: collision-object.hh:31
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
const FrameIndex & frameId() const
Get the frame Id of the gripper in the vector of frame of the Model.
Definition: gripper.hh:69
std::ostream & print(std::ostream &os) const
value_type clearance() const
Definition: gripper.hh:89
const std::string & name() const
get name
Definition: gripper.hh:78
static GripperPtr_t create(const std::string &name, const DeviceWkPtr_t &device)
Definition: gripper.hh:43
static GripperPtr_t createCopy(const GripperPtr_t &gripper, const DeviceWkPtr_t &otherDevice)
Definition: gripper.hh:52