handle.hh

Go to the documentation of this file.

 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_HANDLE_HH
#define HPP_MANIPULATION_HANDLE_HH
 
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <pinocchio/spatial/se3.hpp>
 
namespace hpp {
namespace manipulation {
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
class HPP_MANIPULATION_DLLAPI Handle {
 public:
  static std::string className;
  virtual ~Handle() {};
 
  static HandlePtr_t create(const std::string& name, const Transform3s& pose,
                            const DeviceWkPtr_t& robot,
                            const JointPtr_t& joint) {
    Handle* ptr = new Handle(name, pose, robot, joint);
    HandlePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
  virtual HandlePtr_t clone() const;
 
 
  const std::string& name() const { return name_; }
  void name(const std::string& n) { name_ = n; }
 
 
  const JointPtr_t& joint() const { return joint_; }
  void joint(const JointPtr_t& joint) { joint_ = joint; }
 
  DevicePtr_t robot() const { return robot_.lock(); }
 
  const Transform3s& localPosition() const { return localPosition_; }
 
  void localPosition(const Transform3s& localPosition) {
    localPosition_ = localPosition;
  }
 
  void mask(const std::vector<bool>& mask);
 
  const std::vector<bool>& mask() const { return mask_; }
 
  void maskComp(const std::vector<bool>& mask);
 
  const std::vector<bool>& maskComp() const { return maskComp_; }
 
  virtual ImplicitPtr_t createGrasp(const GripperPtr_t& gripper,
                                    std::string name) const;
 
  virtual ImplicitPtr_t createGraspComplement(const GripperPtr_t& gripper,
                                              std::string name) const;
 
  virtual ImplicitPtr_t createGraspAndComplement(const GripperPtr_t& gripper,
                                                 std::string name) const;
 
  virtual ImplicitPtr_t createPreGrasp(const GripperPtr_t& gripper,
                                       const value_type& shift,
                                       std::string name) const;
 
  value_type clearance() const { return clearance_; }
 
  void clearance(const value_type& clearance) { clearance_ = clearance; }
 
  const vector3_t& approachingDirection() const {
    return approachingDirection_;
  }
 
  void approachingDirection(const vector3_t& dir) {
    approachingDirection_ = dir;
  }
 
 protected:
  Handle(const std::string& name, const Transform3s& pose,
         const DeviceWkPtr_t& robot, const JointPtr_t& joint)
      : name_(name),
        localPosition_(pose),
        joint_(joint),
        robot_(robot),
        clearance_(0),
        mask_(6, true),
        maskComp_(6, false),
        weakPtr_(),
        approachingDirection_(1, 0, 0) {}
  void init(HandleWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
 
  virtual std::ostream& print(std::ostream& os) const;
 
 private:
  std::string name_;
  Transform3s localPosition_;
  JointPtr_t joint_;
  DeviceWkPtr_t robot_;
  value_type clearance_;
  std::vector<bool> mask_;
  std::vector<bool> maskComp_;
  HandleWkPtr_t weakPtr_;
  vector3_t approachingDirection_;
  friend std::ostream& operator<<(std::ostream&, const Handle&);
};  // class Handle
 
std::ostream& operator<<(std::ostream& os, const Handle& handle);
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_HANDLE_HH