#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:

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Collaboration diagram for hpp::manipulation::Device:

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Public Types
typedef pinocchio::HumanoidRobot	Parent_t

Public Types inherited from hpp::pinocchio::Device
typedef std::pair< JointPtr_t, JointPtr_t >	CollisionPair_t

typedef std::list< CollisionPair_t >	CollisionPairs_t

Public Member Functions
DevicePtr_t	self ()

virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream. More...

void	setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)

virtual pinocchio::DevicePtr_t	clone () const

std::vector< std::string >	robotNames () const

FrameIndices_t	robotFrames (const std::string &robotName) const

void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)

Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
JointPtr_t	waist () const

void	waist (const JointPtr_t &joint)

JointPtr_t	chest () const

void	chest (const JointPtr_t &joint)

JointPtr_t	leftWrist () const

void	leftWrist (const JointPtr_t &joint)

JointPtr_t	rightWrist () const

void	rightWrist (const JointPtr_t &joint)

JointPtr_t	leftAnkle () const

void	leftAnkle (const JointPtr_t &joint)

JointPtr_t	rightAnkle () const

void	rightAnkle (const JointPtr_t &joint)

JointPtr_t	gazeJoint () const

void	gazeJoint (const JointPtr_t &joint)

void	gaze (const vector3_t &origin, const vector3_t &dir)

virtual	~HumanoidRobot ()

HumanoidRobotPtr_t	self () const

virtual	~HumanoidRobot ()

HumanoidRobotPtr_t	self () const

Public Member Functions inherited from hpp::pinocchio::Device
coal::AABB	computeAABB () const

void	setModel (ModelPtr_t modelPtr)

void	setGeomModel (GeomModelPtr_t geomModelPtr)

void	setVisualModel (GeomModelPtr_t visualModelPtr)

void	setData (DataPtr_t dataPtr)

void	createData ()

void	setGeomData (GeomDataPtr_t geomDataPtr)

void	createGeomData ()

JointPtr_t	rootJoint () const

Frame	rootFrame () const

size_type	nbJoints () const

JointPtr_t	jointAt (const size_type &i) const

JointPtr_t	getJointAtConfigRank (const size_type &r) const

JointPtr_t	getJointAtVelocityRank (const size_type &r) const

JointPtr_t	getJointByName (const std::string &name) const

JointPtr_t	getJointByBodyName (const std::string &name) const

Frame	getFrameByName (const std::string &name) const

size_type	configSize () const

size_type	numberDof () const

const LiegroupSpacePtr_t &	configSpace () const

const LiegroupSpacePtr_t &	RnxSOnConfigSpace () const

Configuration_t	neutralConfiguration () const

void	addJointConstraint (JointLinearConstraint constraint)

const std::vector< JointLinearConstraint > &	jointConstraints () const

ExtraConfigSpace &	extraConfigSpace ()

const ExtraConfigSpace &	extraConfigSpace () const

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)

void	addGripper (const GripperPtr_t &gripper)

Grippers_t &	grippers ()

const Grippers_t &	grippers () const

BodyPtr_t	obstacles () const

size_type	nbObjects () const

CollisionObjectPtr_t	objectAt (const size_type &i) const

bool	collisionTest (const bool stopAtFirstCollision=true)

void	computeDistances ()

const DistanceResults_t &	distanceResults () const

void	numberDeviceData (const size_type &s)

size_type	numberDeviceData () const

virtual	~Device ()

DevicePtr_t	cloneConst () const

DevicePtr_t	self () const

const std::string &	name () const

void	setModel (ModelPtr_t modelPtr)

void	setGeomModel (GeomModelPtr_t geomModelPtr)

void	setVisualModel (GeomModelPtr_t visualModelPtr)

void	setData (DataPtr_t dataPtr)

void	createData ()

void	setGeomData (GeomDataPtr_t geomDataPtr)

void	createGeomData ()

JointPtr_t	rootJoint () const

Frame	rootFrame () const

size_type	nbJoints () const

JointPtr_t	jointAt (const size_type &i) const

JointPtr_t	getJointAtConfigRank (const size_type &r) const

JointPtr_t	getJointAtVelocityRank (const size_type &r) const

JointPtr_t	getJointByName (const std::string &name) const

JointPtr_t	getJointByBodyName (const std::string &name) const

Frame	getFrameByName (const std::string &name) const

size_type	configSize () const

size_type	numberDof () const

const LiegroupSpacePtr_t &	configSpace () const

const LiegroupSpacePtr_t &	RnxSOnConfigSpace () const

Configuration_t	neutralConfiguration () const

void	addJointConstraint (JointLinearConstraint constraint)

const std::vector< JointLinearConstraint > &	jointConstraints () const

ExtraConfigSpace &	extraConfigSpace ()

const ExtraConfigSpace &	extraConfigSpace () const

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)

void	addGripper (const GripperPtr_t &gripper)

Grippers_t &	grippers ()

const Grippers_t &	grippers () const

BodyPtr_t	obstacles () const

size_type	nbObjects () const

CollisionObjectPtr_t	objectAt (const size_type &i) const

bool	collisionTest (const bool stopAtFirstCollision=true)

void	computeDistances ()

const DistanceResults_t &	distanceResults () const

void	numberDeviceData (const size_type &s)

size_type	numberDeviceData () const

Public Member Functions inherited from hpp::pinocchio::AbstractDevice
ModelConstPtr_t	modelPtr () const

ModelPtr_t	modelPtr ()

const Model &	model () const

Model &	model ()

GeomModelConstPtr_t	geomModelPtr () const

GeomModelPtr_t	geomModelPtr ()

const GeomModel &	geomModel () const

GeomModel &	geomModel ()

GeomModelConstPtr_t	visualModelPtr () const

GeomModelPtr_t	visualModelPtr ()

const GeomModel &	visualModel () const

GeomModel &	visualModel ()

DataConstPtr_t	dataPtr () const

DataPtr_t	dataPtr ()

const Data &	data () const

Data &	data ()

GeomDataConstPtr_t	geomDataPtr () const

GeomDataPtr_t	geomDataPtr ()

const GeomData &	geomData () const

GeomData &	geomData ()

const Configuration_t &	currentConfiguration () const

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const

bool	currentVelocity (vectorIn_t velocity)

const vector_t &	currentAcceleration () const

bool	currentAcceleration (vectorIn_t acceleration)

const value_type &	mass () const

const vector3_t &	positionCenterOfMass () const

const ComJacobian_t &	jacobianCenterOfMass () const

HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

void	updateGeometryPlacements ()

ModelConstPtr_t	modelPtr () const

ModelPtr_t	modelPtr ()

const Model &	model () const

Model &	model ()

GeomModelConstPtr_t	geomModelPtr () const

GeomModelPtr_t	geomModelPtr ()

const GeomModel &	geomModel () const

GeomModel &	geomModel ()

GeomModelConstPtr_t	visualModelPtr () const

GeomModelPtr_t	visualModelPtr ()

const GeomModel &	visualModel () const

GeomModel &	visualModel ()

DataConstPtr_t	dataPtr () const

DataPtr_t	dataPtr ()

const Data &	data () const

Data &	data ()

GeomDataConstPtr_t	geomDataPtr () const

GeomDataPtr_t	geomDataPtr ()

const GeomData &	geomData () const

GeomData &	geomData ()

const Configuration_t &	currentConfiguration () const

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const

bool	currentVelocity (vectorIn_t velocity)

const vector_t &	currentAcceleration () const

bool	currentAcceleration (vectorIn_t acceleration)

const value_type &	mass () const

const vector3_t &	positionCenterOfMass () const

const ComJacobian_t &	jacobianCenterOfMass () const

HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

void	updateGeometryPlacements ()

Static Public Member Functions
static DevicePtr_t	create (const std::string &name)

Static Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
static HumanoidRobotPtr_t	create (const std::string &name)

Static Public Member Functions inherited from hpp::pinocchio::Device
static DevicePtr_t	create (const std::string &name)

static DevicePtr_t	createCopy (const DevicePtr_t &device)

static DevicePtr_t	createCopyConst (const DeviceConstPtr_t &device)

Public Attributes
core::Container< HandlePtr_t >	handles

core::Container< GripperPtr_t >	grippers

core::Container< JointAndShapes_t >	jointAndShapes

Protected Member Functions
	Device (const std::string &name)

void	init (const DeviceWkPtr_t &self)

void	initCopy (const DeviceWkPtr_t &self, const Device &other)

	Device ()
	For serialization only. More...

	HPP_SERIALIZABLE ()

Protected Member Functions inherited from hpp::pinocchio::HumanoidRobot
	HumanoidRobot (const std::string &name)

	HumanoidRobot (const HumanoidRobot &other)

void	init (const HumanoidRobotWkPtr_t &weakPtr)

void	initCopy (const HumanoidRobotWkPtr_t &weakPtr, const HumanoidRobot &other)

	HumanoidRobot ()

Protected Member Functions inherited from hpp::pinocchio::Device
	Device (const std::string &name)

void	init (const DeviceWkPtr_t &weakPtr)

void	initCopy (const DeviceWkPtr_t &weakPtr, const Device &other)

	Device (const Device &device)

DeviceData &	d ()

DeviceData const &	d () const

void	invalidate ()

	Device ()

Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()

	AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm, const GeomModelPtr_t &vm)

Additional Inherited Members
Protected Attributes inherited from hpp::pinocchio::Device
DeviceData	d_

std::string	name_

Grippers_t	grippers_

LiegroupSpacePtr_t	configSpace_

LiegroupSpacePtr_t	configSpaceRnxSOn_

ExtraConfigSpace	extraConfigSpace_

std::vector< JointLinearConstraint >	jointConstraints_

DeviceWkPtr_t	weakPtr_

Protected Attributes inherited from hpp::pinocchio::AbstractDevice
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

GeomModelPtr_t	visualModel_

Detailed Description

Device with handles.

As a deriving class of hpp::pinocchio::HumanoidRobot, it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot

This class also contains pinocchio::Gripper, Handle and JointAndShapes_t

Member Typedef Documentation

◆ Parent_t

typedef pinocchio::HumanoidRobot hpp::manipulation::Device::Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

hpp::manipulation::Device::Device ( const std::string & name )

protected

Constructor

Parameters

name	of the new instance,
robot	Robots that manipulate objects,
objects	Set of objects manipulated by the robot.

◆ Device() [2/2]

hpp::manipulation::Device::Device ( )

inlineprotected

For serialization only.

Member Function Documentation

◆ clone()

virtual pinocchio::DevicePtr_t hpp::manipulation::Device::clone ( ) const

virtual

Reimplemented from hpp::pinocchio::HumanoidRobot.

◆ create()

static DevicePtr_t hpp::manipulation::Device::create ( const std::string & name )

static

Constructor

Parameters

name	of the new instance,

◆ HPP_SERIALIZABLE()

hpp::manipulation::Device::HPP_SERIALIZABLE ( )

protected

◆ init()

void hpp::manipulation::Device::init ( const DeviceWkPtr_t & self )

inlineprotected

◆ initCopy()

void hpp::manipulation::Device::initCopy	(	const DeviceWkPtr_t &	self,
		const Device &	other
	)

inlineprotected

◆ print()

virtual std::ostream& hpp::manipulation::Device::print ( std::ostream & os ) const

virtual

Print object in a stream.

Reimplemented from hpp::pinocchio::Device.

◆ removeJoints()

void hpp::manipulation::Device::removeJoints	(	const std::vector< std::string > &	jointNames,
		Configuration_t	referenceConfig
	)

virtual

Reimplemented from hpp::pinocchio::Device.

◆ robotFrames()

FrameIndices_t hpp::manipulation::Device::robotFrames ( const std::string & robotName ) const

◆ robotNames()

std::vector<std::string> hpp::manipulation::Device::robotNames ( ) const

◆ self()

DevicePtr_t hpp::manipulation::Device::self ( )

inline

◆ setRobotRootPosition()

void hpp::manipulation::Device::setRobotRootPosition	(	const std::string &	robotName,
		const Transform3s &	positionWRTParentJoint
	)

Member Data Documentation

◆ grippers

core::Container<GripperPtr_t> hpp::manipulation::Device::grippers

◆ handles

core::Container<HandlePtr_t> hpp::manipulation::Device::handles

◆ jointAndShapes

core::Container<JointAndShapes_t> hpp::manipulation::Device::jointAndShapes

The documentation for this class was generated from the following file:

include/hpp/manipulation/device.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

◆ Device() [2/2]

Member Function Documentation

◆ clone()

◆ create()

◆ HPP_SERIALIZABLE()

◆ init()

◆ initCopy()

◆ print()

◆ removeJoints()

◆ robotFrames()

◆ robotNames()

◆ self()

◆ setRobotRootPosition()

Member Data Documentation

◆ grippers

◆ handles

◆ jointAndShapes