20 #ifndef HPP_MANIPULATION_DEVICE_HH
21 # define HPP_MANIPULATION_DEVICE_HH
23 # include <hpp/pinocchio/humanoid-robot.hh>
25 # include <hpp/core/container.hh>
31 namespace manipulation {
56 virtual std::ostream&
print (std::ostream& os)
const;
83 void init (
const DeviceWkPtr_t&
self)
85 Parent_t::init (
self);
91 Parent_t::initCopy (
self, other);
void init(const DeviceWkPtr_t &self)
Definition: device.hh:83
static DevicePtr_t create(const std::string &name)
Definition: device.hh:45
void setRobotRootPosition(const std::string &robotName, const Transform3f &positionWRTParentJoint)
void removeJoints(const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
pinocchio::HumanoidRobot Parent_t
Definition: device.hh:41
void initCopy(const DeviceWkPtr_t &self, const Device &other)
Definition: device.hh:89
core::Container< JointAndShapes_t > jointAndShapes
Definition: device.hh:72
core::Container< HandlePtr_t > handles
Definition: device.hh:70
virtual pinocchio::DevicePtr_t clone() const
FrameIndices_t robotFrames(const std::string &robotName) const
Device(const std::string &name)
Definition: device.hh:79
Device()
For serialization only.
Definition: device.hh:96
std::vector< std::string > robotNames() const
virtual std::ostream & print(std::ostream &os) const
Print object in a stream.
core::Container< GripperPtr_t > grippers
Definition: device.hh:71
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:37
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:36
core::Transform3f Transform3f
Definition: fwd.hh:84
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29