31 #ifndef HPP_PINOCCHIO_DEVICE_HH 32 #define HPP_PINOCCHIO_DEVICE_HH 34 #include <boost/thread/condition_variable.hpp> 35 #include <boost/thread/mutex.hpp> 44 #include <hpp/util/debug.hh> 45 #include <hpp/util/serialization-fwd.hh> 91 const std::string&
name()
const {
return name_; }
127 d().geomData_ = geomDataPtr;
131 void createGeomData();
134 virtual void removeJoints(
const std::vector<std::string>& jointNames,
157 Frame rootFrame()
const;
178 JointPtr_t getJointByName(
const std::string& name)
const;
182 JointPtr_t getJointByBodyName(
const std::string& name)
const;
187 Frame getFrameByName(
const std::string& name)
const;
203 return configSpaceRnxSOn_;
210 void addJointConstraint(JointLinearConstraint constraint);
213 return jointConstraints_;
239 extraConfigSpace_.setDimension(dimension);
277 bool collisionTest(
const bool stopAtFirstCollision =
true);
281 void computeDistances();
292 void numberDeviceData(
const size_type& s);
301 virtual std::ostream& print(std::ostream& os)
const;
311 fcl::AABB computeAABB()
const;
317 Device(
const std::string& name);
321 void init(
const DeviceWkPtr_t& weakPtr);
324 void initCopy(
const DeviceWkPtr_t& weakPtr,
const Device& other);
358 HPP_SERIALIZABLE_SPLIT();
362 const std::vector<std::string>& geometryNames);
366 return device.
print(os);
374 #endif // HPP_PINOCCHIO_DEVICE_HH virtual DevicePtr_t clone() const
Clone as a CkwsDevice The pinocchio model is not copied (only copy the pointer). A new Pinocchio "dat...
Definition: device.hh:82
JointPtr_t reference
Definition: device.hh:150
shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:133
shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:108
Utility functions.
Definition: body.hh:39
std::vector< JointLinearConstraint > jointConstraints_
Definition: device.hh:348
Definition: device.hh:148
shared_ptr< Data > DataPtr_t
Definition: fwd.hh:130
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:78
std::vector< fcl::DistanceResult > DistanceResults_t
Definition: fwd.hh:120
Definition: device-data.hh:51
Pool of objects.
Definition: pool.hh:57
ExtraConfigSpace & extraConfigSpace()
Definition: device.hh:227
const LiegroupSpacePtr_t & RnxSOnConfigSpace() const
See Joint::RnxSOnConfigurationSpace.
Definition: device.hh:202
void invalidate()
Definition: device.hh:339
Grippers_t grippers_
Definition: device.hh:343
Robot frame.
Definition: frame.hh:42
matrix_t::Index size_type
Definition: fwd.hh:96
virtual std::ostream & print(std::ostream &os) const
Print object in a stream.
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
const ExtraConfigSpace & extraConfigSpace() const
Definition: device.hh:235
DevicePtr_t cloneConst() const
Clone as a CkwsDevice Both pinocchio objects model and data are copied. TODO: this method is not impl...
Definition: device.hh:86
shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:135
void setGeomData(GeomDataPtr_t geomDataPtr)
Set Pinocchio geomData corresponding to model.
Definition: device.hh:126
ExtraConfigSpace extraConfigSpace_
Definition: device.hh:346
DeviceData d_
Definition: device.hh:334
void replaceGeometryByConvexHull(GeomModel &geomModel, const std::vector< std::string > &geometryNames)
void addGripper(const GripperPtr_t &gripper)
Add a gripper to the Device.
Definition: device.hh:249
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:364
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
void setGeomModel(GeomModelPtr_t geomModelPtr)
Set pinocchio geom.
Definition: device.hh:115
shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:125
DeviceData const & d() const
Definition: device.hh:337
Computation_t
Definition: device-data.hh:40
shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:128
Abstract class representing a Device.
Definition: device-sync.hh:40
std::string name_
Definition: device.hh:341
Definition: center-of-mass-computation.hh:52
Device()
Definition: device.hh:355
void setModel(ModelPtr_t modelPtr)
Set pinocchio model.
Definition: device.hh:112
value_type offset
Definition: device.hh:149
Robot with geometric and dynamic pinocchio.
Definition: device.hh:60
Definition: collision-object.hh:52
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:123
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:119
const LiegroupSpacePtr_t & configSpace() const
Returns a LiegroupSpace representing the configuration space.
Definition: device.hh:199
shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:116
double value_type
Definition: fwd.hh:50
DeviceData & d()
Definition: device.hh:336
Definition: collision-object.hh:40
Grippers_t & grippers()
Return list of grippers of the Device.
Definition: device.hh:252
std::vector< GripperPtr_t > Grippers_t
Definition: fwd.hh:126
const Grippers_t & grippers() const
Return list of grippers of the Device.
Definition: device.hh:255
DeviceWkPtr_t weakPtr_
Definition: device.hh:349
virtual void setDimensionExtraConfigSpace(const size_type &dimension)
Set dimension of extra configuration space.
Definition: device.hh:238
const std::string & name() const
Get name of device.
Definition: device.hh:91
void setData(DataPtr_t dataPtr)
Set Pinocchio data corresponding to model.
Definition: device.hh:118
std::pair< JointPtr_t, JointPtr_t > CollisionPair_t
Collision pairs between bodies.
Definition: device.hh:69
vector_t Configuration_t
Definition: fwd.hh:88
Definition: device-sync.hh:204
const std::vector< JointLinearConstraint > & jointConstraints() const
Definition: device.hh:212
std::list< CollisionPair_t > CollisionPairs_t
Definition: device.hh:70
LiegroupSpacePtr_t configSpaceRnxSOn_
Definition: device.hh:344
void invalidate()
Definition: device-data.hh:55
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:150