20 #ifndef HPP_PINOCCHIO_GRIPPER_HH
21 # define HPP_PINOCCHIO_GRIPPER_HH
44 const DeviceWkPtr_t& device)
53 const DeviceWkPtr_t& otherDevice)
78 const std::string&
name ()
const
98 clearance_ = clearance;
103 std::ostream&
print (std::ostream& os)
const;
111 Gripper (
const std::string& name,
const DeviceWkPtr_t& device);
113 void init (GripperWkPtr_t weakPtr)
122 DeviceWkPtr_t device_;
129 GripperWkPtr_t weakPtr_;
134 return gripper.
print (os);
Definition: gripper.hh:38
static GripperPtr_t create(const std::string &name, const DeviceWkPtr_t &device)
Definition: gripper.hh:43
const Transform3f & objectPositionInJoint() const
Get handle position in the the Grippering joint.
Gripper(const std::string &name, const DeviceWkPtr_t &device)
GripperPtr_t clone() const
const JointPtr_t & joint() const
Get joint to which the gripper is attached.
Definition: gripper.hh:63
const FrameIndex & frameId() const
Get the frame Id of the gripper in the vector of frame of the Model.
Definition: gripper.hh:69
void clearance(const value_type &clearance)
Definition: gripper.hh:96
const std::string & name() const
get name
Definition: gripper.hh:78
value_type clearance() const
Definition: gripper.hh:89
static GripperPtr_t createCopy(const GripperPtr_t &gripper, const DeviceWkPtr_t &otherDevice)
Definition: gripper.hh:52
void init(GripperWkPtr_t weakPtr)
Definition: gripper.hh:113
std::ostream & print(std::ostream &os) const
#define HPP_PINOCCHIO_DLLAPI
Definition: config.hh:64
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
shared_ptr< Joint > JointPtr_t
Definition: fwd.hh:111
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
::pinocchio::SE3 Transform3f
Definition: fwd.hh:69
double value_type
Definition: fwd.hh:40
shared_ptr< Gripper > GripperPtr_t
Definition: fwd.hh:113
Utility functions.
Definition: body.hh:30
Definition: collision-object.hh:32