19 #ifndef HPP_RBPRM_DEVICE_HH
20 #define HPP_RBPRM_DEVICE_HH
22 #include <hpp/pinocchio/device.hh>
31 typedef std::map<std::string, DevicePtr_t>
T_Rom;
52 DevicePtr_t& robotRom);
60 const T_Rom& robotRoms);
94 void init(
const RbPrmDeviceWkPtr_t& weakPtr);
97 std::map<std::string, vector3_t> effectorsReferences_;
98 RbPrmDeviceWkPtr_t weakPtr_;
Definition: rbprm-device.hh:43
void init(const RbPrmDeviceWkPtr_t &weakPtr)
Initialization.
virtual void setEffectorReference(std::string romName, vector3_t ref)
setEffectorReference set a 3D position reference for the end effector of the given ROM
static RbPrmDevicePtr_t create(const std::string &name, const T_Rom &robotRoms)
static RbPrmDevicePtr_t create(const std::string &name, DevicePtr_t &robotRom)
RbPrmDevice(const std::string &name, const T_Rom &robotRoms)
virtual void setDimensionExtraConfigSpace(const size_type &dimension)
virtual vector3_t getEffectorReference(std::string romName)
getEffectorReference get the reference position of the given ROM, return (0,0,0) if the reference was...
virtual bool currentConfiguration(ConfigurationIn_t configuration)
const T_Rom robotRoms_
Range Of Motion of the robot.
Definition: rbprm-device.hh:86
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
std::map< std::string, DevicePtr_t > T_Rom
Definition: rbprm-device.hh:31
shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
HPP_PREDEF_CLASS(RbPrmDevice)
Definition: algorithm.hh:26