hpp::manipulation::Device Class Reference

Device with handles. More...

#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:
Collaboration diagram for hpp::manipulation::Device:

Public Types

typedef model::HumanoidRobot Parent_t
 
- Public Types inherited from hpp::manipulation::Container< HandlePtr_t >
typedef std::map< std::string, HandlePtr_tElementMap_t
 
- Public Types inherited from hpp::manipulation::Container< model::GripperPtr_t >
typedef std::map< std::string, model::GripperPtr_t > ElementMap_t
 
- Public Types inherited from hpp::manipulation::Container< TriangleList >
typedef std::map< std::string, TriangleListElementMap_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_tgetAll () 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...
 
- Public Member Functions inherited from hpp::manipulation::Container< HandlePtr_t >
void add (const std::string &name, const HandlePtr_t &element)
 Add an element. More...
 
const HandlePtr_tget (const std::string &name) const
 Return the element named name. More...
 
ReturnType getAllAs () const
 Return a list of all elements. More...
 
const ElementMap_tgetAll () const
 Return the underlying map. More...
 
std::ostream & print (std::ostream &os) const
 Print object in a stream. More...
 
- Public Member Functions inherited from hpp::manipulation::Container< model::GripperPtr_t >
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_tgetAll () const
 Return the underlying map. More...
 
std::ostream & print (std::ostream &os) const
 Print object in a stream. More...
 
- Public Member Functions inherited from hpp::manipulation::Container< TriangleList >
void add (const std::string &name, const TriangleList &element)
 Add an element. More...
 
const TriangleListget (const std::string &name) const
 Return the element named name. More...
 
ReturnType getAllAs () const
 Return a list of all elements. More...
 
const ElementMap_tgetAll () 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)
 
- Protected Member Functions inherited from hpp::manipulation::Container< HandlePtr_t >
 Container ()
 Constructor. More...
 
- Protected Member Functions inherited from hpp::manipulation::Container< model::GripperPtr_t >
 Container ()
 Constructor. More...
 
- Protected Member Functions inherited from hpp::manipulation::Container< TriangleList >
 Container ()
 Constructor. More...
 

Detailed Description

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

Member Typedef Documentation

◆ Parent_t

typedef model::HumanoidRobot hpp::manipulation::Device::Parent_t

Constructor & Destructor Documentation

◆ Device()

hpp::manipulation::Device::Device ( const std::string &  name)
inlineprotected

Constructor.

Parameters
nameof the new instance,
robotRobots that manipulate objects,
objectsSet of objects manipulated by the robot.

Member Function Documentation

◆ add()

template<typename Element >
void hpp::manipulation::Device::add ( const std::string &  name,
const Element &  element 
)
inline

Add an element to a container.

◆ create()

static DevicePtr_t hpp::manipulation::Device::create ( const std::string &  name)
inlinestatic

Constructor.

Parameters
nameof the new instance,

References init().

◆ didInsertRobot()

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.

◆ get()

template<typename Element >
const Element& hpp::manipulation::Device::get ( const std::string &  name) const
inline

Get an element of a container.

◆ getAll()

template<typename Element >
const Container<Element>::ElementMap_t& hpp::manipulation::Device::getAll ( ) const
inline

Get the underlying map of a container.

◆ init()

void hpp::manipulation::Device::init ( const DeviceWkPtr_t &  self)
inlineprotected

Referenced by create().

◆ prepareInsertRobot()

void hpp::manipulation::Device::prepareInsertRobot ( )
inline

Cache joint vector.

◆ print()

virtual std::ostream& hpp::manipulation::Device::print ( std::ostream &  os) const
inlinevirtual

Print object in a stream.