hpp-manipulation
4.15.1
Classes for manipulation planning.
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31 #ifndef HPP_MANIPULATION_DEVICE_HH
32 #define HPP_MANIPULATION_DEVICE_HH
34 #include <hpp/core/container.hh>
37 #include <hpp/pinocchio/humanoid-robot.hh>
40 namespace manipulation {
64 virtual std::ostream& print(std::ostream& os)
const;
66 void setRobotRootPosition(
const std::string& robotName,
71 std::vector<std::string> robotNames()
const;
75 void removeJoints(
const std::vector<std::string>& jointNames,
89 void init(
const DeviceWkPtr_t&
self) {
95 Parent_t::initCopy(
self, other);
112 #endif // HPP_MANIPULATION_DEVICE_HH
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
Device(const std::string &name)
Definition: device.hh:87
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:47
void initCopy(const DeviceWkPtr_t &self, const Device &other)
Definition: device.hh:94
core::Container< JointAndShapes_t > jointAndShapes
Definition: device.hh:80
pinocchio::HumanoidRobot Parent_t
Definition: device.hh:50
static DevicePtr_t create(const std::string &name)
Definition: device.hh:54
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
core::Container< GripperPtr_t > grippers
Definition: device.hh:79
core::Container< HandlePtr_t > handles
Definition: device.hh:78
core::Transform3f Transform3f
Definition: fwd.hh:92
void init(const DeviceWkPtr_t &self)
Definition: device.hh:89
Device()
For serialization only.
Definition: device.hh:100