position.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// 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
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//
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#ifndef HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH
#define HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH
 
#include <hpp/manipulation/fwd.hh>
#include <pinocchio/spatial/se3.hpp>
 
#include "hpp/manipulation/parser/factories/sequence.hh"
 
namespace hpp {
namespace manipulation {
namespace srdf {

class PositionFactory : public parser::SequenceFactory<float> {
 public:
  PositionFactory(ObjectFactory* parent, const parser::XMLElement* element)
      : SequenceFactory<float>(parent, element, 7) {}
 
  virtual void finishTags();
 
  const Transform3s& position() const { return position_; }
 
 private:
  void computeTransformFromText();
  void computeTransformFromAttributes();
 
  Transform3s position_;
};

}  // namespace srdf
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH