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

hpp-manipulation-urdf 9.0.2 Implementation of a parser for hpp-manipulation.

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gripper.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_GRIPPER_HH
30#define HPP_MANIPULATION_SRDF_FACTORIES_GRIPPER_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
44 class GripperFactory : public parser::ObjectFactory {
45 public:
46 GripperFactory(ObjectFactory* parent, const parser::XMLElement* element)
47 : ObjectFactory(parent, element) {}
48
49 virtual void finishTags();
50
51 GripperPtr_t gripper() const;
52
53 protected:
54 GripperPtr_t gripper_;
55
57 Transform3s localPosition_;
58 std::string linkName_;
59 std::list<std::string> collisionLinks_;
60};
61
63} // namespace srdf
64} // namespace manipulation
65} // namespace hpp
66
67#endif // HPP_MANIPULATION_SRDF_FACTORIES_GRIPPER_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::GripperFactory
Build an object of type hpp::pinocchio::Gripper.
Definition gripper.hh:44
hpp::manipulation::srdf::GripperFactory::localPosition_
Transform3s localPosition_
The element required to build the gripper.
Definition gripper.hh:57
hpp::manipulation::srdf::GripperFactory::gripper
GripperPtr_t gripper() const
hpp::manipulation::srdf::GripperFactory::collisionLinks_
std::list< std::string > collisionLinks_
Definition gripper.hh:59
hpp::manipulation::srdf::GripperFactory::finishTags
virtual void finishTags()
Called when all the child tags have been processed.
hpp::manipulation::srdf::GripperFactory::gripper_
GripperPtr_t gripper_
Definition gripper.hh:54
hpp::manipulation::srdf::GripperFactory::linkName_
std::string linkName_
Definition gripper.hh:58
hpp::manipulation::srdf::GripperFactory::GripperFactory
GripperFactory(ObjectFactory *parent, const parser::XMLElement *element)
Definition gripper.hh:46
fwd.hh
hpp::manipulation::parser::XMLElement
tinyxml2::XMLElement XMLElement
Definition parser.hh:43
hpp::manipulation::GripperPtr_t
pinocchio::GripperPtr_t GripperPtr_t
hpp::manipulation::Transform3s
core::Transform3s Transform3s
hpp
parser.hh