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

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

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position.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_POSITION_HH
30#define HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH
31
32#include <hpp/manipulation/fwd.hh>
33#include <pinocchio/spatial/se3.hpp>
34
35#include "hpp/manipulation/parser/factories/sequence.hh"
36
37 namespace hpp {
38 namespace manipulation {
39 namespace srdf {
42
49 class PositionFactory : public parser::SequenceFactory<float> {
50 public:
51 PositionFactory(ObjectFactory* parent, const parser::XMLElement* element)
52 : SequenceFactory<float>(parent, element, 7) {}
53
54 virtual void finishTags();
55
56 const Transform3s& position() const { return position_; }
57
58 private:
59 void computeTransformFromText();
60 void computeTransformFromAttributes();
61
62 Transform3s position_;
63};
64
66} // namespace srdf
67} // namespace manipulation
68} // namespace hpp
69
70#endif // HPP_MANIPULATION_SRDF_FACTORIES_POSITION_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::parser::SequenceFactory< float >::SequenceFactory
SequenceFactory(ObjectFactory *parent, const XMLElement *element, const int nbValue=-1)
Definition sequence.hh:51
hpp::manipulation::srdf::PositionFactory
Build a coal::Transform.
Definition position.hh:49
hpp::manipulation::srdf::PositionFactory::position
const Transform3s & position() const
Definition position.hh:56
hpp::manipulation::srdf::PositionFactory::PositionFactory
PositionFactory(ObjectFactory *parent, const parser::XMLElement *element)
Definition position.hh:51
hpp::manipulation::srdf::PositionFactory::finishTags
virtual void finishTags()
Called when all the child tags have been processed.
fwd.hh
hpp::manipulation::parser::XMLElement
tinyxml2::XMLElement XMLElement
Definition parser.hh:43
hpp::manipulation::Transform3s
core::Transform3s Transform3s
hpp
sequence.hh