#include <hpp/manipulation/device.hh>
Public Types | |
typedef model::HumanoidRobot | Parent_t |
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typedef std::map< std::string, HandlePtr_t > | ElementMap_t |
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typedef std::map< std::string, model::GripperPtr_t > | ElementMap_t |
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typedef std::map< std::string, TriangleList > | ElementMap_t |
Public Member Functions | |
virtual std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
Accessors to container elements | |
Contained elements are of type model::Gripper, Handle and TriangleList | |
template<typename Element > | |
const Element & | get (const std::string &name) const |
Get an element of a container. More... | |
template<typename Element > | |
const Container< Element >::ElementMap_t & | getAll () const |
Get the underlying map of a container. More... | |
template<typename Element > | |
void | add (const std::string &name, const Element &element) |
Add an element to a container. More... | |
Collisions | |
void | prepareInsertRobot () |
Cache joint vector. More... | |
void | didInsertRobot () |
Add collisions between the joint vector cache initialized by prepareInsertRobot() add the current Robot. More... | |
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void | add (const std::string &name, const HandlePtr_t &element) |
Add an element. More... | |
const HandlePtr_t & | get (const std::string &name) const |
Return the element named name. More... | |
ReturnType | getAllAs () const |
Return a list of all elements. More... | |
const ElementMap_t & | getAll () const |
Return the underlying map. More... | |
std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
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void | add (const std::string &name, const model::GripperPtr_t &element) |
Add an element. More... | |
const model::GripperPtr_t & | get (const std::string &name) const |
Return the element named name. More... | |
ReturnType | getAllAs () const |
Return a list of all elements. More... | |
const ElementMap_t & | getAll () const |
Return the underlying map. More... | |
std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
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void | add (const std::string &name, const TriangleList &element) |
Add an element. More... | |
const TriangleList & | get (const std::string &name) const |
Return the element named name. More... | |
ReturnType | getAllAs () const |
Return a list of all elements. More... | |
const ElementMap_t & | getAll () const |
Return the underlying map. More... | |
std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
Static Public Member Functions | |
static DevicePtr_t | create (const std::string &name) |
Constructor. More... | |
Protected Member Functions | |
Device (const std::string &name) | |
Constructor. More... | |
void | init (const DeviceWkPtr_t &self) |
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Container () | |
Constructor. More... | |
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Container () | |
Constructor. More... | |
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Container () | |
Constructor. More... | |
Device with handles.
As a deriving class of hpp::model::HumanoidRobot, it is compatible with hpp::model::urdf::loadHumanoidRobot
This class also contains model::Gripper, Handle and TriangleList
typedef model::HumanoidRobot hpp::manipulation::Device::Parent_t |
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inlineprotected |
Constructor.
name | of the new instance, |
robot | Robots that manipulate objects, |
objects | Set of objects manipulated by the robot. |
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inline |
Add an element to a container.
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inlinestatic |
void hpp::manipulation::Device::didInsertRobot | ( | ) |
Add collisions between the joint vector cache initialized by prepareInsertRobot() add the current Robot.
When creating a robot from several URDF files, this enables collisions between joints from different files.
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inline |
Get an element of a container.
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inline |
Get the underlying map of a container.
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inlineprotected |
Referenced by create().
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inline |
Cache joint vector.
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inlinevirtual |
Print object in a stream.