hpp-manipulation 5.0.0
Classes for manipulation planning.
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device.hh
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7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
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30
31#ifndef HPP_MANIPULATION_DEVICE_HH
32#define HPP_MANIPULATION_DEVICE_HH
33
34#include <hpp/core/container.hh>
37#include <hpp/pinocchio/humanoid-robot.hh>
38
39namespace hpp {
40namespace manipulation {
48class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
49 public:
50 typedef pinocchio::HumanoidRobot Parent_t;
51
54 static DevicePtr_t create(const std::string& name) {
55 Device* ptr = new Device(name);
56 DevicePtr_t shPtr(ptr);
57 ptr->init(shPtr);
58 return shPtr;
59 }
60
61 DevicePtr_t self() const { return self_.lock(); }
62
64 virtual std::ostream& print(std::ostream& os) const;
65
66 void setRobotRootPosition(const std::string& robotName,
67 const Transform3f& positionWRTParentJoint);
68
69 virtual pinocchio::DevicePtr_t clone() const;
70
71 std::vector<std::string> robotNames() const;
72
73 FrameIndices_t robotFrames(const std::string& robotName) const;
74
75 void removeJoints(const std::vector<std::string>& jointNames,
76 Configuration_t referenceConfig);
77
78 core::Container<HandlePtr_t> handles;
79 core::Container<GripperPtr_t> grippers;
80 core::Container<JointAndShapes_t> jointAndShapes;
81
82 protected:
87 Device(const std::string& name) : Parent_t(name) {}
88
89 void init(const DeviceWkPtr_t& self) {
90 Parent_t::init(self);
91 self_ = self;
92 }
93
94 void initCopy(const DeviceWkPtr_t& self, const Device& other) {
95 Parent_t::initCopy(self, other);
96 self_ = self;
97 }
98
101
102 private:
103 DeviceWkPtr_t self_;
104
105 HPP_SERIALIZABLE();
106}; // class Device
107} // namespace manipulation
108} // namespace hpp
109
110BOOST_CLASS_EXPORT_KEY(hpp::manipulation::Device)
111
112#endif // HPP_MANIPULATION_DEVICE_HH
Definition: device.hh:48
DevicePtr_t self() const
Definition: device.hh:61
void init(const DeviceWkPtr_t &self)
Definition: device.hh:89
static DevicePtr_t create(const std::string &name)
Definition: device.hh:54
void setRobotRootPosition(const std::string &robotName, const Transform3f &positionWRTParentJoint)
std::vector< std::string > robotNames() const
void removeJoints(const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
pinocchio::HumanoidRobot Parent_t
Definition: device.hh:50
void initCopy(const DeviceWkPtr_t &self, const Device &other)
Definition: device.hh:94
core::Container< JointAndShapes_t > jointAndShapes
Definition: device.hh:80
core::Container< HandlePtr_t > handles
Definition: device.hh:78
virtual pinocchio::DevicePtr_t clone() const
FrameIndices_t robotFrames(const std::string &robotName) const
Device(const std::string &name)
Definition: device.hh:87
Device()
For serialization only.
Definition: device.hh:100
virtual std::ostream & print(std::ostream &os) const
Print object in a stream.
core::Container< GripperPtr_t > grippers
Definition: device.hh:79
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:47
core::Transform3f Transform3f
Definition: fwd.hh:91
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
Definition: main.hh:1