hpp-python 9.0.2
python bindings for HPP, based on boost python
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pyhpp::manipulation::Device Struct Reference

#include <pyhpp/manipulation/device.hh>

Inheritance diagram for pyhpp::manipulation::Device:
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Collaboration diagram for pyhpp::manipulation::Device:
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Public Member Functions

 Device (const std::string &name)
void setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)
std::map< std::string, HandlePtr_t > handles ()
std::map< std::string, GripperPtr_t > grippers ()
std::vector< modelsInfo > & getModelsInfo ()
boost::python::list getJointConfig (const char *jointName)
boost::python::list getJointNames ()
void setJointBounds (const char *jointName, boost::python::list jointBounds)
boost::python::list contactSurfaceNames ()
boost::python::dict contactSurfaces ()
void addHandle (const std::string &linkName, const std::string &handleName, const Transform3s &pose, value_type clearance, const std::vector< bool > &mask)
void addGripper (const std::string &linkName, const std::string &gripperName, const Transform3s &pose, value_type clearance)
Public Member Functions inherited from hpp::pinocchio::Device
virtual std::ostream & print (std::ostream &os) const
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 ()
virtual void removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
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 ()
virtual DevicePtr_t clone () const
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 ()
virtual void removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
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 ()

Public Attributes

std::vector< modelsInfo > models_info_

Additional Inherited Members

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

Constructor & Destructor Documentation

◆ Device()

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

Member Function Documentation

◆ addGripper()

void pyhpp::manipulation::Device::addGripper ( const std::string & linkName,
const std::string & gripperName,
const Transform3s & pose,
value_type clearance )

◆ addHandle()

void pyhpp::manipulation::Device::addHandle ( const std::string & linkName,
const std::string & handleName,
const Transform3s & pose,
value_type clearance,
const std::vector< bool > & mask )

◆ contactSurfaceNames()

boost::python::list pyhpp::manipulation::Device::contactSurfaceNames ( )

◆ contactSurfaces()

boost::python::dict pyhpp::manipulation::Device::contactSurfaces ( )

◆ getJointConfig()

boost::python::list pyhpp::manipulation::Device::getJointConfig ( const char * jointName)

◆ getJointNames()

boost::python::list pyhpp::manipulation::Device::getJointNames ( )

◆ getModelsInfo()

std::vector< modelsInfo > & pyhpp::manipulation::Device::getModelsInfo ( )
inline

◆ grippers()

std::map< std::string, GripperPtr_t > pyhpp::manipulation::Device::grippers ( )

◆ handles()

std::map< std::string, HandlePtr_t > pyhpp::manipulation::Device::handles ( )

◆ setJointBounds()

void pyhpp::manipulation::Device::setJointBounds ( const char * jointName,
boost::python::list jointBounds )

◆ setRobotRootPosition()

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

Member Data Documentation

◆ models_info_

std::vector<modelsInfo> pyhpp::manipulation::Device::models_info_
The documentation for this struct was generated from the following files: