gripper.hh

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//
// Copyright (c) 2016 CNRS
// Authors: Joseph Mirabel from 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 HPP_PINOCCHIO_GRIPPER_HH
#define HPP_PINOCCHIO_GRIPPER_HH
 
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/fwd.hh>
 
namespace hpp {
namespace pinocchio {
class HPP_PINOCCHIO_DLLAPI Gripper {
 public:
  static GripperPtr_t create(const std::string& name,
                             const DevicePtr_t& device) {
    Gripper* ptr = new Gripper(name, device);
    GripperPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static GripperPtr_t createCopy(const GripperPtr_t& gripper,
                                 const DevicePtr_t& otherDevice) {
    Gripper* ptr = new Gripper(gripper->name(), otherDevice);
    ptr->clearance(gripper->clearance());
    GripperPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }

  const JointPtr_t& joint() const { return joint_; }

  const FrameIndex& frameId() const { return fid_; }

  const Transform3s& objectPositionInJoint() const;

  const std::string& name() const { return name_; }

  value_type clearance() const { return clearance_; }

  void clearance(const value_type& clearance) { clearance_ = clearance; }
 
  GripperPtr_t clone() const;
 
  std::ostream& print(std::ostream& os) const;
 
 protected:
  Gripper(const std::string& name, const DevicePtr_t& device);
 
  void init(GripperWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
 
 private:
  inline DevicePtr_t device() const;
 
  std::string name_;
  DeviceWkPtr_t device_;
  JointPtr_t joint_;
  mutable FrameIndex fid_;
  value_type clearance_;
  GripperWkPtr_t weakPtr_;
};  // class Gripper
 
inline std::ostream& operator<<(std::ostream& os, const Gripper& gripper) {
  return gripper.print(os);
}
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_GRIPPER_HH