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

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

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contact.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_CONTACT_HH
30#define HPP_MANIPULATION_SRDF_FACTORIES_CONTACT_HH
31
32#include <coal/math/transform.h>
33#include <coal/shape/geometric_shapes.h>
34
35#include <hpp/manipulation/fwd.hh>
36
37#include "hpp/manipulation/parser/factories/sequence.hh"
38#include "hpp/manipulation/parser/parser.hh"
39
40 namespace hpp {
41 namespace manipulation {
42 namespace srdf {
45
47 class ContactFactory : public parser::ObjectFactory {
48 public:
49 typedef parser::SequenceFactory<value_type> PointFactory;
50 typedef parser::SequenceFactory<unsigned int> TriangleFactory;
51 typedef parser::SequenceFactory<unsigned int> ShapeFactory;
52
53 ContactFactory(ObjectFactory* parent, const parser::XMLElement* element)
54 : ObjectFactory(parent, element) {}
55
56 virtual void finishTags();
57
58 private:
59 JointAndShapes_t shapes_;
60 std::string linkName_, objectName_;
61};
62
64} // namespace srdf
65} // namespace manipulation
66} // namespace hpp
67
68#endif // HPP_MANIPULATION_SRDF_FACTORIES_CONTACT_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::parser::SequenceFactory
Factory parsing sequence of values.
Definition sequence.hh:48
hpp::manipulation::srdf::ContactFactory
Factory building contact surfaces.
Definition contact.hh:47
hpp::manipulation::srdf::ContactFactory::ContactFactory
ContactFactory(ObjectFactory *parent, const parser::XMLElement *element)
Definition contact.hh:53
hpp::manipulation::srdf::ContactFactory::TriangleFactory
parser::SequenceFactory< unsigned int > TriangleFactory
Definition contact.hh:50
hpp::manipulation::srdf::ContactFactory::finishTags
virtual void finishTags()
Called when all the child tags have been processed.
hpp::manipulation::srdf::ContactFactory::PointFactory
parser::SequenceFactory< value_type > PointFactory
Definition contact.hh:49
hpp::manipulation::srdf::ContactFactory::ShapeFactory
parser::SequenceFactory< unsigned int > ShapeFactory
Definition contact.hh:51
fwd.hh
hpp::manipulation::parser::XMLElement
tinyxml2::XMLElement XMLElement
Definition parser.hh:43
hpp::manipulation::JointAndShapes_t
core::JointAndShapes_t JointAndShapes_t
hpp
parser.hh
sequence.hh