31#ifndef HPP_MANIPULATION_HANDLE_HH
32#define HPP_MANIPULATION_HANDLE_HH
36#include <pinocchio/spatial/se3.hpp>
39namespace manipulation {
70 const DeviceWkPtr_t& robot,
72 Handle* ptr =
new Handle(name, localPosition, robot, joint);
84 const std::string&
name()
const {
return name_; }
86 void name(
const std::string& n) { name_ = n; }
104 void mask(
const std::vector<bool>& mask);
108 const std::vector<bool>&
mask()
const {
return mask_; }
114 const std::vector<bool>&
maskComp()
const {
return maskComp_; }
125 std::string name)
const;
134 std::string name)
const;
141 std::string name)
const;
153 std::string name)
const;
174 const DeviceWkPtr_t& robot,
const JointPtr_t& joint)
176 localPosition_(localPosition),
182 void init(HandleWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
184 virtual std::ostream&
print(std::ostream& os)
const;
193 DeviceWkPtr_t robot_;
197 std::vector<bool> mask_;
199 std::vector<bool> maskComp_;
201 HandleWkPtr_t weakPtr_;
void maskComp(const std::vector< bool > &mask)
Set mask of complement constraint.
friend std::ostream & operator<<(std::ostream &, const Handle &)
void clearance(const value_type &clearance)
Definition: handle.hh:165
virtual ~Handle()
Definition: handle.hh:61
static std::string className
Definition: handle.hh:60
const std::vector< bool > & maskComp() const
Get mask of complement constraint.
Definition: handle.hh:114
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:95
const std::vector< bool > & mask() const
Definition: handle.hh:108
const Transform3f & localPosition() const
Get local position in joint frame.
Definition: handle.hh:101
virtual ImplicitPtr_t createPreGrasp(const GripperPtr_t &gripper, const value_type &shift, std::string name) const
void init(HandleWkPtr_t weakPtr)
Definition: handle.hh:182
const JointPtr_t & joint() const
Get joint to which the handle is linked.
Definition: handle.hh:93
value_type clearance() const
Definition: handle.hh:161
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
const std::string & name() const
Get name.
Definition: handle.hh:84
virtual ImplicitPtr_t createGraspAndComplement(const GripperPtr_t &gripper, std::string name) const
void name(const std::string &n)
Set name.
Definition: handle.hh:86
static HandlePtr_t create(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:68
Handle(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:173
void mask(const std::vector< bool > &mask)
Set constraint mask.
DevicePtr_t robot() const
Definition: handle.hh:97
virtual std::ostream & print(std::ostream &os) const
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:43
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:52
core::Transform3f Transform3f
Definition: fwd.hh:92
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:116
core::value_type value_type
Definition: fwd.hh:90
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:59
std::ostream & operator<<(std::ostream &os, const Handle &handle)