hpp-manipulation
4.9.0
Classes for manipulation planning.
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20 #ifndef HPP_MANIPULATION_HANDLE_HH
21 # define HPP_MANIPULATION_HANDLE_HH
23 # include <pinocchio/spatial/se3.hpp>
29 namespace manipulation {
45 const DeviceWkPtr_t& robot,
48 Handle* ptr =
new Handle (name, localPosition, robot, joint);
60 const std::string&
name ()
const
65 void name (
const std::string& n)
94 return localPosition_;
98 void mask (
const std::vector<bool>& mask);
102 const std::vector<bool>&
mask ()
const
157 clearance_ = clearance;
167 const DeviceWkPtr_t& robot,
const JointPtr_t& joint) :
168 name_ (name), localPosition_ (localPosition), joint_ (joint),
169 robot_ (robot), clearance_ (0), mask_ (6, true), weakPtr_ ()
172 void init (HandleWkPtr_t weakPtr)
177 virtual std::ostream& print (std::ostream& os)
const;
186 DeviceWkPtr_t robot_;
190 std::vector<bool> mask_;
192 HandleWkPtr_t weakPtr_;
197 std::ostream&
operator<< (std::ostream& os,
const Handle& handle);
201 #endif // HPP_MANIPULATION_HANDLE_HH
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:41
void joint(const JointPtr_t &joint)
Set joint to which the handle is linked.
Definition: handle.hh:80
const JointPtr_t & joint() const
Get joint to which the handle is linked.
Definition: handle.hh:75
void clearance(const value_type &clearance)
Definition: handle.hh:155
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:32
core::value_type value_type
Definition: fwd.hh:79
Handle(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:166
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
const std::string & name() const
Get name.
Definition: handle.hh:60
std::ostream & operator<<(std::ostream &os, const Handle &handle)
const std::vector< bool > & mask() const
Definition: handle.hh:102
DevicePtr_t robot() const
Definition: handle.hh:85
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
void init(HandleWkPtr_t weakPtr)
Definition: handle.hh:172
virtual ~Handle()
Definition: handle.hh:36
Part of an object that is aimed at being grasped.
Definition: handle.hh:32
value_type clearance() const
Definition: handle.hh:148
boost::shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:48
static HandlePtr_t create(const std::string &name, const Transform3f &localPosition, const DeviceWkPtr_t &robot, const JointPtr_t &joint)
Definition: handle.hh:43
const Transform3f & localPosition() const
Get local position in joint frame.
Definition: handle.hh:92
static std::string className
Definition: handle.hh:35
void name(const std::string &n)
Set name.
Definition: handle.hh:65
core::Transform3f Transform3f
Definition: fwd.hh:81