hpp-manipulation-urdf 5.0.0
Implementation of a parser for hpp-manipulation.
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handle.hh
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1// Copyright (c) 2014, LAAS-CNRS
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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28
29#ifndef HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH
30#define HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH
31
32#include <hpp/manipulation/fwd.hh>
33#include <pinocchio/spatial/se3.hpp>
34
36
37namespace hpp {
38namespace manipulation {
39namespace srdf {
42
43using parser::ObjectFactory;
47using parser::XMLNode;
48using parser::XMLText;
49
52 public:
53 HandleFactory(ObjectFactory* parent, const XMLElement* element)
54 : ObjectFactory(parent, element) {}
55
56 virtual void finishTags();
57
58 HandlePtr_t handle() const;
59
60 protected:
61 HandlePtr_t handle_;
62
64 Transform3f localPosition_;
65 std::string linkName_;
66};
67
69} // namespace srdf
70} // namespace manipulation
71} // namespace hpp
72
73#endif // HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH
Class that catch XML Parser events for a specific tag and build the corresponding Object.
Definition: parser.hh:85
Build an object of type hpp::manipulation::Handle.
Definition: handle.hh:51
std::string linkName_
Definition: handle.hh:65
HandleFactory(ObjectFactory *parent, const XMLElement *element)
Definition: handle.hh:53
HandlePtr_t handle_
Definition: handle.hh:61
virtual void finishTags()
Called when all the child tags have been processed.
Transform3f localPosition_
The element required to build the handle.
Definition: handle.hh:64
tinyxml2::XMLAttribute XMLAttribute
Definition: parser.hh:45
tinyxml2::XMLDocument XMLDocument
Definition: parser.hh:44
tinyxml2::XMLElement XMLElement
Definition: parser.hh:43
tinyxml2::XMLText XMLText
Definition: parser.hh:47
tinyxml2::XMLNode XMLNode
Definition: parser.hh:46
Definition: ignoretag.hh:34