20 #ifndef HPP_MANIPULATION_HANDLE_HH
21 # define HPP_MANIPULATION_HANDLE_HH
23 # include <pinocchio/spatial/se3.hpp>
29 namespace manipulation {
45 const DeviceWkPtr_t& robot,
48 Handle* ptr =
new Handle (name, localPosition, robot, joint);
60 const std::string&
name ()
const
65 void name (
const std::string& n)
94 return localPosition_;
98 void mask (
const std::vector<bool>& mask);
102 const std::vector<bool>&
mask ()
const
157 clearance_ = clearance;
167 const DeviceWkPtr_t& robot,
const JointPtr_t& joint) :
168 name_ (name), localPosition_ (localPosition), joint_ (joint),
169 robot_ (robot), clearance_ (0), mask_ (6, true), weakPtr_ ()
172 void init (HandleWkPtr_t weakPtr)
177 virtual std::ostream&
print (std::ostream& os)
const;
186 DeviceWkPtr_t robot_;
190 std::vector<bool> mask_;
192 HandleWkPtr_t weakPtr_;
Part of an object that is aimed at being grasped.
Definition: handle.hh:33
void clearance(const value_type &clearance)
Definition: handle.hh:155
virtual ~Handle()
Definition: handle.hh:36
static std::string className
Definition: handle.hh:35
virtual ImplicitPtr_t createGrasp(const GripperPtr_t &gripper, std::string name) const
void joint(const JointPtr_t &joint)
Set joint to which the handle is linked.
Definition: handle.hh:80
const Transform3f & localPosition() const
Get local position in joint frame.
Definition: handle.hh:92
virtual ImplicitPtr_t createPreGrasp(const GripperPtr_t &gripper, const value_type &shift, std::string name) const
void init(HandleWkPtr_t weakPtr)
Definition: handle.hh:172
value_type clearance() const
Definition: handle.hh:148
virtual HandlePtr_t clone() const
Return a pointer to the copy of this.
virtual ImplicitPtr_t createGraspComplement(const GripperPtr_t &gripper, std::string name) const
virtual ImplicitPtr_t createGraspAndComplement(const GripperPtr_t &gripper, std::string name) const
void name(const std::string &n)
Set name.
Definition: handle.hh:65
virtual std::ostream & print(std::ostream &os) const
static HandlePtr_t create(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:43
const std::vector< bool > & mask() const
Definition: handle.hh:102
Handle(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:166
void mask(const std::vector< bool > &mask)
Set constraint mask.
DevicePtr_t robot() const
Definition: handle.hh:85
const std::string & name() const
Get name.
Definition: handle.hh:60
const JointPtr_t & joint() const
Get joint to which the handle is linked.
Definition: handle.hh:75
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:32
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:41
core::Transform3f Transform3f
Definition: fwd.hh:84
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
std::ostream & operator<<(std::ostream &os, const Handle &handle)
core::value_type value_type
Definition: fwd.hh:82
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:48