hpp-pinocchio
4.9.0
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>
79 const std::string&
name ()
const {
return name_;}
84 static DevicePtr_t create (
const std::string & name);
113 void createGeomData();
136 Frame rootFrame ()
const;
157 JointPtr_t getJointByName (
const std::string& name)
const;
161 JointPtr_t getJointByBodyName (
const std::string& name)
const;
166 Frame getFrameByName (
const std::string& name)
const;
187 void addJointConstraint (JointLinearConstraint constraint);
191 return jointConstraints_;
218 extraConfigSpace_.setDimension (dimension);
230 grippers_.push_back (gripper);
265 bool collisionTest (
const bool stopAtFirstCollision=
true);
269 void computeDistances ();
280 void numberDeviceData (
const size_type& s);
289 virtual std::ostream& print (std::ostream& os)
const;
299 fcl::AABB computeAABB()
const;
305 Device(
const std::string& name);
309 void init(
const DeviceWkPtr_t& weakPtr);
312 void initCopy(
const DeviceWkPtr_t& weakPtr,
const Device& other);
345 {
return device.
print(os); }
350 #endif // HPP_PINOCCHIO_DEVICE_HH
const std::vector< JointLinearConstraint > & jointConstraints() const
Definition: device.hh:189
std::pair< JointPtr_t, JointPtr_t > CollisionPair_t
Collision pairs between bodies.
Definition: device.hh:60
Definition: device-sync.hh:162
std::vector< GripperPtr_t > Grippers_t
Definition: fwd.hh:112
Robot with geometric and dynamic pinocchio.
Definition: device.hh:51
boost::shared_ptr< GeomData > GeomDataPtr_t
Definition: fwd.hh:121
Pool of objects.
Definition: pool.hh:48
double value_type
Definition: fwd.hh:40
boost::shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:111
boost::shared_ptr< GeomModel > GeomModelPtr_t
Definition: fwd.hh:119
void setGeomData(GeomDataPtr_t geomDataPtr)
Set Pinocchio geomData corresponding to model.
Definition: device.hh:111
boost::shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:134
std::vector< JointLinearConstraint > jointConstraints_
Definition: device.hh:337
void setGeomModel(GeomModelPtr_t geomModelPtr)
Set pinocchio geom.
Definition: device.hh:103
boost::shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:105
boost::shared_ptr< Data > DataPtr_t
Definition: fwd.hh:116
value_type offset
Definition: device.hh:128
void invalidate()
Definition: device.hh:328
const Grippers_t & grippers() const
Return list of grippers of the Device.
Definition: device.hh:240
const LiegroupSpacePtr_t & configSpace() const
Returns a LiegroupSpace representing the configuration space.
Definition: device.hh:178
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:76
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
DeviceData const & d() const
Definition: device.hh:326
DeviceData d_
Definition: device.hh:323
LiegroupSpacePtr_t configSpaceRnxSOn_
Definition: device.hh:333
const LiegroupSpacePtr_t & RnxSOnConfigSpace() const
See Joint::RnxSOnConfigurationSpace.
Definition: device.hh:181
Definition: device.hh:126
Definition: device-data.hh:41
ExtraConfigSpace extraConfigSpace_
Definition: device.hh:335
DeviceWkPtr_t weakPtr_
Definition: device.hh:338
matrix_t::Index size_type
Definition: fwd.hh:84
boost::shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:109
Utility functions.
Definition: body.hh:30
std::vector< fcl::DistanceResult > DistanceResults_t
Definition: fwd.hh:106
vector_t Configuration_t
Definition: fwd.hh:76
std::string name_
Definition: device.hh:330
DeviceData & d()
Definition: device.hh:325
ExtraConfigSpace & extraConfigSpace()
Definition: device.hh:205
const ExtraConfigSpace & extraConfigSpace() const
Definition: device.hh:213
Grippers_t grippers_
Definition: device.hh:332
Definition: center-of-mass-computation.hh:41
JointPtr_t reference
Definition: device.hh:129
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:72
boost::shared_ptr< CollisionObject > CollisionObjectPtr_t
Definition: fwd.hh:102
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:234
boost::shared_ptr< Model > ModelPtr_t
Definition: fwd.hh:114
std::list< CollisionPair_t > CollisionPairs_t
Definition: device.hh:61
Robot frame.
Definition: frame.hh:31
void setModel(ModelPtr_t modelPtr)
Set pinocchio model.
Definition: device.hh:100
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:344
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:104
void addGripper(const GripperPtr_t &gripper)
Add a gripper to the Device.
Definition: device.hh:228
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:106
void invalidate()
Definition: device-data.hh:46
const std::string & name() const
Get name of device.
Definition: device.hh:79
Definition: collision-object.hh:31
virtual void setDimensionExtraConfigSpace(const size_type &dimension)
Set dimension of extra configuration space.
Definition: device.hh:216