device.hh

Go to the documentation of this file.

//
// 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 <../src/pyhpp/pinocchio/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::vector_t vector_t;
typedef hpp::pinocchio::vector3_t vector3_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::FrameIndex FrameIndex;
typedef hpp::pinocchio::Joint Joint;
typedef hpp::pinocchio::JointIndex JointIndex;
typedef hpp::pinocchio::JointPtr_t JointPtr_t;
 
struct modelsInfo {
  std::string urdfPath;
  std::string srdfPath;
  std::string prefix;
  hpp::pinocchio::SE3 pose;
 
  bool operator==(const modelsInfo& other) const {
    return urdfPath == other.urdfPath && srdfPath == other.srdfPath &&
           prefix == other.prefix && pose == other.pose;
  }
};
 
// 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 : public pyhpp::pinocchio::Device {
  Device(const std::string& name);
 
  void setRobotRootPosition(const std::string& robotName,
                            const Transform3s& positionWRTParentJoint);
  std::map<std::string, HandlePtr_t> handles();
  std::map<std::string, GripperPtr_t> grippers();
 
  std::vector<modelsInfo> models_info_;
  std::vector<modelsInfo>& getModelsInfo() { return models_info_; }
 
  boost::python::list getJointConfig(const char* jointName);
  boost::python::list getJointNames();
  void setJointBounds(const char* jointName, boost::python::list jointBounds);
  boost::python::list contactSurfaceNames();
  boost::python::dict contactSurfaces();
  void addHandle(const std::string& linkName, const std::string& handleName,
                 const Transform3s& pose, value_type clearance,
                 const std::vector<bool>& mask);
  void addGripper(const std::string& linkName, const std::string& gripperName,
                  const Transform3s& pose, value_type clearance);
};  // struct Device
}  // namespace manipulation
}  // namespace pyhpp
#endif  // PYHPP_MANIPULATION_DEVICE_HH