device.hh

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//
// Copyright (c) 2025, CNRS
// Authors: Florent Lamiraux
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
 
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
 
// 2. Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
// INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
// OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef PYHPP_MANIPULATION_DEVICE_HH
#define PYHPP_MANIPULATION_DEVICE_HH
 
#include <hpp/constraints/implicit.hh>
#include <hpp/manipulation/device.hh>
#include <hpp/manipulation/handle.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/pinocchio/frame.hh>
#include <hpp/pinocchio/gripper.hh>
#include <hpp/pinocchio/joint.hh>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/geometry.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <pyhpp/manipulation/fwd.hh>
 
namespace pyhpp {
namespace manipulation {
 
typedef hpp::pinocchio::Model Model;
typedef hpp::pinocchio::Data Data;
typedef hpp::pinocchio::ModelPtr_t ModelPtr_t;
typedef hpp::pinocchio::GeomData GeomData;
typedef hpp::pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
typedef hpp::pinocchio::GeomModel GeomModel;
typedef hpp::pinocchio::Configuration_t Configuration_t;
typedef hpp::pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef hpp::pinocchio::size_type size_type;
typedef hpp::pinocchio::value_type value_type;
typedef hpp::pinocchio::Transform3s Transform3s;
typedef hpp::pinocchio::GripperPtr_t GripperPtr_t;
typedef hpp::pinocchio::Gripper Gripper;
typedef hpp::pinocchio::Computation_t Computation_t;
typedef hpp::manipulation::HandlePtr_t HandlePtr_t;
typedef hpp::manipulation::Handle Handle;
typedef hpp::manipulation::DevicePtr_t DevicePtr_t;
typedef hpp::pinocchio::DevicePtr_t PinDevicePtr_t;
typedef hpp::pinocchio::Frame Frame;
typedef hpp::pinocchio::Joint Joint;
typedef hpp::pinocchio::JointPtr_t JointPtr_t;
 
// Wrapper class to hpp::manipulation::Device
//
// Boost python does not correctly handle weak pointers. To overcome this
// limitation, we create a wrapper class and bind this class with boost python
// instead of the original class.
struct Device {
  DevicePtr_t obj;
  Device(const DevicePtr_t& object);
  Device(const std::string& name);
  // Methods from hpp::pinocchio::Device
  const std::string& name() const;
  const LiegroupSpacePtr_t& configSpace() const;
  Model& model();
  Data& data();
  GeomData& geomData();
  GeomModel& geomModel();
  GeomModel& visualModel();
  size_type configSize() const;
  size_type numberDof() const;
  const Configuration_t& currentConfiguration() const;
  bool currentConfiguration(ConfigurationIn_t configuration);
  void computeForwardKinematics(int flag);
  void computeFramesForwardKinematics();
  void updateGeometryPlacements();
  // Methods for hpp::manipulation::Device
  void setRobotRootPosition(const std::string& robotName,
                            const Transform3s& positionWRTParentJoint);
  PinDevicePtr_t asPinDevice();
  boost::python::list getJointConfig(const char* jointName);
  boost::python::list getJointNames();
  void setJointBounds(const char* jointName, boost::python::list jointBounds);
};  // struct Device
}  // namespace manipulation
}  // namespace pyhpp
#endif  // PYHPP_MANIPULATION_DEVICE_HH