31#ifndef HPP_MANIPULATION_DEVICE_HH
32#define HPP_MANIPULATION_DEVICE_HH
34#include <hpp/core/container.hh>
37#include <hpp/pinocchio/humanoid-robot.hh>
40namespace manipulation {
64 virtual std::ostream&
print(std::ostream& os)
const;
69 virtual pinocchio::DevicePtr_t
clone()
const;
89 void init(
const DeviceWkPtr_t& self) {
95 Parent_t::initCopy(self, other);
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