hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
hpp::pinocchio::RbPrmDevice Class Reference

#include <hpp/rbprm/rbprm-device.hh>

Inheritance diagram for hpp::pinocchio::RbPrmDevice:
Collaboration diagram for hpp::pinocchio::RbPrmDevice:

Public Member Functions

virtual ~RbPrmDevice ()
 
virtual bool currentConfiguration (ConfigurationIn_t configuration)
 
virtual void setDimensionExtraConfigSpace (const size_type &dimension)
 
virtual void setEffectorReference (std::string romName, vector3_t ref)
 setEffectorReference set a 3D position reference for the end effector of the given ROM More...
 
virtual vector3_t getEffectorReference (std::string romName)
 getEffectorReference get the reference position of the given ROM, return (0,0,0) if the reference was never set More...
 

Static Public Member Functions

static RbPrmDevicePtr_t create (const std::string &name, DevicePtr_t &robotRom)
 
static RbPrmDevicePtr_t create (const std::string &name, const T_Rom &robotRoms)
 

Public Attributes

const T_Rom robotRoms_
 Range Of Motion of the robot. More...
 

Protected Member Functions

 RbPrmDevice (const std::string &name, const T_Rom &robotRoms)
 
void init (const RbPrmDeviceWkPtr_t &weakPtr)
 Initialization. More...
 

Constructor & Destructor Documentation

◆ ~RbPrmDevice()

virtual hpp::pinocchio::RbPrmDevice::~RbPrmDevice ( )
virtual

◆ RbPrmDevice()

hpp::pinocchio::RbPrmDevice::RbPrmDevice ( const std::string &  name,
const T_Rom robotRoms 
)
protected

Member Function Documentation

◆ create() [1/2]

static RbPrmDevicePtr_t hpp::pinocchio::RbPrmDevice::create ( const std::string &  name,
const T_Rom robotRoms 
)
static

Creates a RbPrmDevice

Parameters
namethe name of the Device
robotRomslist of devices, indexed by an identifiant
Returns
a smart pointer to the created RbPrmDevice

◆ create() [2/2]

static RbPrmDevicePtr_t hpp::pinocchio::RbPrmDevice::create ( const std::string &  name,
DevicePtr_t &  robotRom 
)
static

Creates a RbPrmDevice

Parameters
namethe name of the Device
robotRoma Device describe the range of motion of one limb of the robot.
Returns
a smart pointer to the created RbPrmDevice

◆ currentConfiguration()

virtual bool hpp::pinocchio::RbPrmDevice::currentConfiguration ( ConfigurationIn_t  configuration)
virtual

Sets the current configuration of the Device, and propagates it to the ROMs of the Device.

◆ getEffectorReference()

virtual vector3_t hpp::pinocchio::RbPrmDevice::getEffectorReference ( std::string  romName)
virtual

getEffectorReference get the reference position of the given ROM, return (0,0,0) if the reference was never set

Parameters
romName
Returns

◆ init()

void hpp::pinocchio::RbPrmDevice::init ( const RbPrmDeviceWkPtr_t &  weakPtr)
protected

Initialization.

◆ setDimensionExtraConfigSpace()

virtual void hpp::pinocchio::RbPrmDevice::setDimensionExtraConfigSpace ( const size_type &  dimension)
virtual

◆ setEffectorReference()

virtual void hpp::pinocchio::RbPrmDevice::setEffectorReference ( std::string  romName,
vector3_t  ref 
)
virtual

setEffectorReference set a 3D position reference for the end effector of the given ROM

Parameters
romName

Member Data Documentation

◆ robotRoms_

const T_Rom hpp::pinocchio::RbPrmDevice::robotRoms_

Range Of Motion of the robot.


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