#include <pyhpp/manipulation/device.hh>

Inheritance diagram for pyhpp::manipulation::Device:

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Collaboration diagram for pyhpp::manipulation::Device:

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Public Member Functions
	Device (const std::string &name)

void	setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)

std::map< std::string, HandlePtr_t >	handles ()

std::map< std::string, GripperPtr_t >	grippers ()

std::vector< modelsInfo > &	getModelsInfo ()

boost::python::list	getJointConfig (const char *jointName)

boost::python::list	getJointNames ()

void	setJointBounds (const char *jointName, boost::python::list jointBounds)

boost::python::list	contactSurfaceNames ()

boost::python::dict	contactSurfaces ()

void	addHandle (const std::string &linkName, const std::string &handleName, const Transform3s &pose, value_type clearance, const std::vector< bool > &mask)

void	addGripper (const std::string &linkName, const std::string &gripperName, const Transform3s &pose, value_type clearance)

Public Member Functions inherited from hpp::pinocchio::Device
virtual std::ostream &	print (std::ostream &os) const

coal::AABB	computeAABB () const

void	setModel (ModelPtr_t modelPtr)

void	setGeomModel (GeomModelPtr_t geomModelPtr)

void	setVisualModel (GeomModelPtr_t visualModelPtr)

void	setData (DataPtr_t dataPtr)

void	createData ()

void	setGeomData (GeomDataPtr_t geomDataPtr)

void	createGeomData ()

virtual void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)

JointPtr_t	rootJoint () const

Frame	rootFrame () const

size_type	nbJoints () const

JointPtr_t	jointAt (const size_type &i) const

JointPtr_t	getJointAtConfigRank (const size_type &r) const

JointPtr_t	getJointAtVelocityRank (const size_type &r) const

JointPtr_t	getJointByName (const std::string &name) const

JointPtr_t	getJointByBodyName (const std::string &name) const

Frame	getFrameByName (const std::string &name) const

size_type	configSize () const

size_type	numberDof () const

const LiegroupSpacePtr_t &	configSpace () const

const LiegroupSpacePtr_t &	RnxSOnConfigSpace () const

Configuration_t	neutralConfiguration () const

void	addJointConstraint (JointLinearConstraint constraint)

const std::vector< JointLinearConstraint > &	jointConstraints () const

ExtraConfigSpace &	extraConfigSpace ()

const ExtraConfigSpace &	extraConfigSpace () const

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)

void	addGripper (const GripperPtr_t &gripper)

Grippers_t &	grippers ()

const Grippers_t &	grippers () const

BodyPtr_t	obstacles () const

size_type	nbObjects () const

CollisionObjectPtr_t	objectAt (const size_type &i) const

bool	collisionTest (const bool stopAtFirstCollision=true)

void	computeDistances ()

const DistanceResults_t &	distanceResults () const

void	numberDeviceData (const size_type &s)

size_type	numberDeviceData () const

virtual	~Device ()

virtual DevicePtr_t	clone () const

DevicePtr_t	cloneConst () const

DevicePtr_t	self () const

const std::string &	name () const

void	setModel (ModelPtr_t modelPtr)

void	setGeomModel (GeomModelPtr_t geomModelPtr)

void	setVisualModel (GeomModelPtr_t visualModelPtr)

void	setData (DataPtr_t dataPtr)

void	createData ()

void	setGeomData (GeomDataPtr_t geomDataPtr)

void	createGeomData ()

virtual void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)

JointPtr_t	rootJoint () const

Frame	rootFrame () const

size_type	nbJoints () const

JointPtr_t	jointAt (const size_type &i) const

JointPtr_t	getJointAtConfigRank (const size_type &r) const

JointPtr_t	getJointAtVelocityRank (const size_type &r) const

JointPtr_t	getJointByName (const std::string &name) const

JointPtr_t	getJointByBodyName (const std::string &name) const

Frame	getFrameByName (const std::string &name) const

size_type	configSize () const

size_type	numberDof () const

const LiegroupSpacePtr_t &	configSpace () const

const LiegroupSpacePtr_t &	RnxSOnConfigSpace () const

Configuration_t	neutralConfiguration () const

void	addJointConstraint (JointLinearConstraint constraint)

const std::vector< JointLinearConstraint > &	jointConstraints () const

ExtraConfigSpace &	extraConfigSpace ()

const ExtraConfigSpace &	extraConfigSpace () const

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)

void	addGripper (const GripperPtr_t &gripper)

Grippers_t &	grippers ()

const Grippers_t &	grippers () const

BodyPtr_t	obstacles () const

size_type	nbObjects () const

CollisionObjectPtr_t	objectAt (const size_type &i) const

bool	collisionTest (const bool stopAtFirstCollision=true)

void	computeDistances ()

const DistanceResults_t &	distanceResults () const

void	numberDeviceData (const size_type &s)

size_type	numberDeviceData () const

Public Member Functions inherited from hpp::pinocchio::AbstractDevice
ModelConstPtr_t	modelPtr () const

ModelPtr_t	modelPtr ()

const Model &	model () const

Model &	model ()

GeomModelConstPtr_t	geomModelPtr () const

GeomModelPtr_t	geomModelPtr ()

const GeomModel &	geomModel () const

GeomModel &	geomModel ()

GeomModelConstPtr_t	visualModelPtr () const

GeomModelPtr_t	visualModelPtr ()

const GeomModel &	visualModel () const

GeomModel &	visualModel ()

DataConstPtr_t	dataPtr () const

DataPtr_t	dataPtr ()

const Data &	data () const

Data &	data ()

GeomDataConstPtr_t	geomDataPtr () const

GeomDataPtr_t	geomDataPtr ()

const GeomData &	geomData () const

GeomData &	geomData ()

const Configuration_t &	currentConfiguration () const

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const

bool	currentVelocity (vectorIn_t velocity)

const vector_t &	currentAcceleration () const

bool	currentAcceleration (vectorIn_t acceleration)

const value_type &	mass () const

const vector3_t &	positionCenterOfMass () const

const ComJacobian_t &	jacobianCenterOfMass () const

HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

void	updateGeometryPlacements ()

ModelConstPtr_t	modelPtr () const

ModelPtr_t	modelPtr ()

const Model &	model () const

Model &	model ()

GeomModelConstPtr_t	geomModelPtr () const

GeomModelPtr_t	geomModelPtr ()

const GeomModel &	geomModel () const

GeomModel &	geomModel ()

GeomModelConstPtr_t	visualModelPtr () const

GeomModelPtr_t	visualModelPtr ()

const GeomModel &	visualModel () const

GeomModel &	visualModel ()

DataConstPtr_t	dataPtr () const

DataPtr_t	dataPtr ()

const Data &	data () const

Data &	data ()

GeomDataConstPtr_t	geomDataPtr () const

GeomDataPtr_t	geomDataPtr ()

const GeomData &	geomData () const

GeomData &	geomData ()

const Configuration_t &	currentConfiguration () const

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const

bool	currentVelocity (vectorIn_t velocity)

const vector_t &	currentAcceleration () const

bool	currentAcceleration (vectorIn_t acceleration)

const value_type &	mass () const

const vector3_t &	positionCenterOfMass () const

const ComJacobian_t &	jacobianCenterOfMass () const

HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

void	updateGeometryPlacements ()

Public Attributes
std::vector< modelsInfo >	models_info_

Additional Inherited Members
Public Types inherited from hpp::pinocchio::Device
typedef std::pair< JointPtr_t, JointPtr_t >	CollisionPair_t

typedef std::list< CollisionPair_t >	CollisionPairs_t

Static Public Member Functions inherited from hpp::pinocchio::Device
static DevicePtr_t	create (const std::string &name)

static DevicePtr_t	createCopy (const DevicePtr_t &device)

static DevicePtr_t	createCopyConst (const DeviceConstPtr_t &device)

Protected Member Functions inherited from hpp::pinocchio::Device
	Device (const std::string &name)

void	init (const DeviceWkPtr_t &weakPtr)

void	initCopy (const DeviceWkPtr_t &weakPtr, const Device &other)

	Device (const Device &device)

DeviceData &	d ()

DeviceData const &	d () const

void	invalidate ()

	Device ()

Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()

	AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm, const GeomModelPtr_t &vm)

Protected Attributes inherited from hpp::pinocchio::Device
DeviceData	d_

std::string	name_

Grippers_t	grippers_

LiegroupSpacePtr_t	configSpace_

LiegroupSpacePtr_t	configSpaceRnxSOn_

ExtraConfigSpace	extraConfigSpace_

std::vector< JointLinearConstraint >	jointConstraints_

DeviceWkPtr_t	weakPtr_

Protected Attributes inherited from hpp::pinocchio::AbstractDevice
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

GeomModelPtr_t	visualModel_

Constructor & Destructor Documentation

◆ Device()

pyhpp::manipulation::Device::Device ( const std::string & name )

Member Function Documentation

◆ addGripper()

void pyhpp::manipulation::Device::addGripper	(	const std::string &	linkName,
		const std::string &	gripperName,
		const Transform3s &	pose,
		value_type	clearance
	)

◆ addHandle()

void pyhpp::manipulation::Device::addHandle	(	const std::string &	linkName,
		const std::string &	handleName,
		const Transform3s &	pose,
		value_type	clearance,
		const std::vector< bool > &	mask
	)

◆ contactSurfaceNames()

boost::python::list pyhpp::manipulation::Device::contactSurfaceNames ( )

◆ contactSurfaces()

boost::python::dict pyhpp::manipulation::Device::contactSurfaces ( )

◆ getJointConfig()

boost::python::list pyhpp::manipulation::Device::getJointConfig ( const char * jointName )

◆ getJointNames()

boost::python::list pyhpp::manipulation::Device::getJointNames ( )

◆ getModelsInfo()

std::vector< modelsInfo > & pyhpp::manipulation::Device::getModelsInfo ( )

inline

◆ grippers()

std::map< std::string, GripperPtr_t > pyhpp::manipulation::Device::grippers ( )

◆ handles()

std::map< std::string, HandlePtr_t > pyhpp::manipulation::Device::handles ( )

◆ setJointBounds()

void pyhpp::manipulation::Device::setJointBounds	(	const char *	jointName,
		boost::python::list	jointBounds
	)

◆ setRobotRootPosition()

void pyhpp::manipulation::Device::setRobotRootPosition	(	const std::string &	robotName,
		const Transform3s &	positionWRTParentJoint
	)

Member Data Documentation

◆ models_info_

std::vector<modelsInfo> pyhpp::manipulation::Device::models_info_

The documentation for this struct was generated from the following files:

src/pyhpp/manipulation/device.hh
src/pyhpp/manipulation/device.cc

Public Member Functions

Public Attributes

Additional Inherited Members