hpp-manipulation-urdf: include/hpp/manipulation/srdf/factories/handle.hh Source File

hpp-manipulation-urdf 9.0.2 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
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
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
35#include "hpp/manipulation/parser/parser.hh"
36
37 namespace hpp {
38 namespace manipulation {
39 namespace srdf {
42
43 using parser::ObjectFactory;
44 using parser::XMLAttribute;
45 using parser::XMLDocument;
46 using parser::XMLElement;
47 using parser::XMLNode;
48 using parser::XMLText;
49
51 class HandleFactory : public ObjectFactory {
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 Transform3s 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
hpp::manipulation::parser::ObjectFactory
Class that catch XML Parser events for a specific tag and build the corresponding Object.
Definition parser.hh:85
hpp::manipulation::parser::ObjectFactory::parent
ObjectFactory * parent()
hpp::manipulation::srdf::HandleFactory
Build an object of type hpp::manipulation::Handle.
Definition handle.hh:51
hpp::manipulation::srdf::HandleFactory::linkName_
std::string linkName_
Definition handle.hh:65
hpp::manipulation::srdf::HandleFactory::HandleFactory
HandleFactory(ObjectFactory *parent, const XMLElement *element)
Definition handle.hh:53
hpp::manipulation::srdf::HandleFactory::handle_
HandlePtr_t handle_
Definition handle.hh:61
hpp::manipulation::srdf::HandleFactory::localPosition_
Transform3s localPosition_
The element required to build the handle.
Definition handle.hh:64
hpp::manipulation::srdf::HandleFactory::handle
HandlePtr_t handle() const
hpp::manipulation::srdf::HandleFactory::finishTags
virtual void finishTags()
Called when all the child tags have been processed.
fwd.hh
hpp::manipulation::parser::XMLAttribute
tinyxml2::XMLAttribute XMLAttribute
Definition parser.hh:45
hpp::manipulation::parser::XMLDocument
tinyxml2::XMLDocument XMLDocument
Definition parser.hh:44
hpp::manipulation::parser::XMLElement
tinyxml2::XMLElement XMLElement
Definition parser.hh:43
hpp::manipulation::parser::XMLText
tinyxml2::XMLText XMLText
Definition parser.hh:47
hpp::manipulation::parser::XMLNode
tinyxml2::XMLNode XMLNode
Definition parser.hh:46
hpp::manipulation::Transform3s
core::Transform3s Transform3s
hpp::manipulation::HandlePtr_t
shared_ptr< Handle > HandlePtr_t
hpp
parser.hh