hpp-pinocchio
4.10.1
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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20 #ifndef HPP_PINOCCHIO_DEVICE_HH
21 #define HPP_PINOCCHIO_DEVICE_HH
27 # include <boost/thread/mutex.hpp>
28 # include <boost/thread/condition_variable.hpp>
30 # include <hpp/util/debug.hh>
31 # include <hpp/util/serialization-fwd.hh>
80 const std::string&
name ()
const {
return name_;}
85 static DevicePtr_t create (
const std::string & name);
114 void createGeomData();
137 Frame rootFrame ()
const;
158 JointPtr_t getJointByName (
const std::string& name)
const;
162 JointPtr_t getJointByBodyName (
const std::string& name)
const;
167 Frame getFrameByName (
const std::string& name)
const;
188 void addJointConstraint (JointLinearConstraint constraint);
192 return jointConstraints_;
219 extraConfigSpace_.setDimension (dimension);
231 grippers_.push_back (gripper);
266 bool collisionTest (
const bool stopAtFirstCollision=
true);
270 void computeDistances ();
281 void numberDeviceData (
const size_type& s);
290 virtual std::ostream& print (std::ostream& os)
const;
300 fcl::AABB computeAABB()
const;
306 Device(
const std::string& name);
310 void init(
const DeviceWkPtr_t& weakPtr);
313 void initCopy(
const DeviceWkPtr_t& weakPtr,
const Device& other);
347 HPP_SERIALIZABLE_SPLIT();
351 const std::vector<std::string>& geometryNames);
354 {
return device.
print(os); }
359 #endif // HPP_PINOCCHIO_DEVICE_HH
const std::vector< JointLinearConstraint > & jointConstraints() const
Definition: device.hh:190
std::pair< JointPtr_t, JointPtr_t > CollisionPair_t
Collision pairs between bodies.
Definition: device.hh:61
Definition: device-sync.hh:162
std::vector< GripperPtr_t > Grippers_t
Definition: fwd.hh:114
Robot with geometric and dynamic pinocchio.
Definition: device.hh:52
boost::shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:123
Pool of objects.
Definition: pool.hh:48
double value_type
Definition: fwd.hh:40
boost::shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:113
boost::shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:121
void setGeomData(GeomDataPtr_t geomDataPtr)
Set Pinocchio geomData corresponding to model.
Definition: device.hh:112
boost::shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:136
std::vector< JointLinearConstraint > jointConstraints_
Definition: device.hh:338
void setGeomModel(GeomModelPtr_t geomModelPtr)
Set pinocchio geom.
Definition: device.hh:104
boost::shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:107
boost::shared_ptr< Data > DataPtr_t
Definition: fwd.hh:118
value_type offset
Definition: device.hh:129
void invalidate()
Definition: device.hh:329
const Grippers_t & grippers() const
Return list of grippers of the Device.
Definition: device.hh:241
const LiegroupSpacePtr_t & configSpace() const
Returns a LiegroupSpace representing the configuration space.
Definition: device.hh:179
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:77
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
DeviceData const & d() const
Definition: device.hh:327
DeviceData d_
Definition: device.hh:324
LiegroupSpacePtr_t configSpaceRnxSOn_
Definition: device.hh:334
const LiegroupSpacePtr_t & RnxSOnConfigSpace() const
See Joint::RnxSOnConfigurationSpace.
Definition: device.hh:182
Definition: device.hh:127
Definition: device-data.hh:41
ExtraConfigSpace extraConfigSpace_
Definition: device.hh:336
DeviceWkPtr_t weakPtr_
Definition: device.hh:339
matrix_t::Index size_type
Definition: fwd.hh:84
boost::shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
Utility functions.
Definition: body.hh:30
std::vector< fcl::DistanceResult > DistanceResults_t
Definition: fwd.hh:108
::pinocchio::GeometryModel GeomModel
Definition: fwd.hh:67
Device()
Definition: device.hh:345
vector_t Configuration_t
Definition: fwd.hh:76
std::string name_
Definition: device.hh:331
DeviceData & d()
Definition: device.hh:326
void replaceGeometryByConvexHull(GeomModel &geomModel, const std::vector< std::string > &geometryNames)
ExtraConfigSpace & extraConfigSpace()
Definition: device.hh:206
const ExtraConfigSpace & extraConfigSpace() const
Definition: device.hh:214
Grippers_t grippers_
Definition: device.hh:333
Definition: center-of-mass-computation.hh:43
JointPtr_t reference
Definition: device.hh:130
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:73
boost::shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:104
Computation_t
Definition: device-data.hh:30
Abstract class representing a Device.
Definition: device-sync.hh:29
Grippers_t & grippers()
Return list of grippers of the Device.
Definition: device.hh:235
boost::shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:116
std::list< CollisionPair_t > CollisionPairs_t
Definition: device.hh:62
Robot frame.
Definition: frame.hh:31
void setModel(ModelPtr_t modelPtr)
Set pinocchio model.
Definition: device.hh:101
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:353
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
void addGripper(const GripperPtr_t &gripper)
Add a gripper to the Device.
Definition: device.hh:229
boost::shared_ptr< Body > BodyPtr_t
Definition: fwd.hh:96
Definition: collision-object.hh:44
virtual std::ostream & print(std::ostream &os) const
Print object in a stream.
void setData(DataPtr_t dataPtr)
Set Pinocchio data corresponding to model.
Definition: device.hh:107
void invalidate()
Definition: device-data.hh:46
const std::string & name() const
Get name of device.
Definition: device.hh:80
Definition: collision-object.hh:31
virtual void setDimensionExtraConfigSpace(const size_type &dimension)
Set dimension of extra configuration space.
Definition: device.hh:217