19 #ifndef HPP_RBPRM_DEVICE_HH 20 #define HPP_RBPRM_DEVICE_HH 22 #include <hpp/pinocchio/device.hh> 31 typedef std::map<std::string, DevicePtr_t>
T_Rom;
51 static RbPrmDevicePtr_t create(
const std::string& name,
52 DevicePtr_t& robotRom);
59 static RbPrmDevicePtr_t create(
const std::string& name,
60 const T_Rom& robotRoms);
68 virtual bool currentConfiguration(ConfigurationIn_t configuration);
70 virtual void setDimensionExtraConfigSpace(
const size_type& dimension);
76 virtual void setEffectorReference(std::string romName, vector3_t ref);
82 virtual vector3_t getEffectorReference(std::string romName);
89 RbPrmDevice(
const std::string& name,
const T_Rom& robotRoms);
94 void init(
const RbPrmDeviceWkPtr_t& weakPtr);
97 std::map<std::string, vector3_t> effectorsReferences_;
98 RbPrmDeviceWkPtr_t weakPtr_;
103 #endif // HPP_RBPRM_DEVICE_HH #define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:26
shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
HPP_PREDEF_CLASS(RbPrmDevice)
const T_Rom robotRoms_
Range Of Motion of the robot.
Definition: rbprm-device.hh:86
std::map< std::string, DevicePtr_t > T_Rom
Definition: rbprm-device.hh:31
Definition: rbprm-device.hh:43