#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:

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Collaboration diagram for hpp::manipulation::Device:

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

Public Member Functions
DevicePtr_t	self ()
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream.
void	setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)
virtual pinocchio::DevicePtr_t	clone () const
std::vector< std::string >	robotNames () const
FrameIndices_t	robotFrames (const std::string &robotName) const
void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
JointPtr_t	waist () const
void	waist (const JointPtr_t &joint)
JointPtr_t	chest () const
void	chest (const JointPtr_t &joint)
JointPtr_t	leftWrist () const
void	leftWrist (const JointPtr_t &joint)
JointPtr_t	rightWrist () const
void	rightWrist (const JointPtr_t &joint)
JointPtr_t	leftAnkle () const
void	leftAnkle (const JointPtr_t &joint)
JointPtr_t	rightAnkle () const
void	rightAnkle (const JointPtr_t &joint)
JointPtr_t	gazeJoint () const
void	gazeJoint (const JointPtr_t &joint)
void	gaze (const vector3_t &origin, const vector3_t &dir)
virtual	~HumanoidRobot ()
HumanoidRobotPtr_t	self () const
virtual	~HumanoidRobot ()
HumanoidRobotPtr_t	self () const
Public Member Functions inherited from hpp::pinocchio::Device
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 ()
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 ()
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 ()
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 ()

Static Public Member Functions
static DevicePtr_t	create (const std::string &name)
Static Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
static HumanoidRobotPtr_t	create (const std::string &name)
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)

Public Attributes
core::Container< HandlePtr_t >	handles
core::Container< GripperPtr_t >	grippers
core::Container< JointAndShapes_t >	jointAndShapes

Protected Member Functions
	Device (const std::string &name)
void	init (const DeviceWkPtr_t &self)
void	initCopy (const DeviceWkPtr_t &self, const Device &other)
	Device ()
	For serialization only.
	HPP_SERIALIZABLE ()
Protected Member Functions inherited from hpp::pinocchio::HumanoidRobot
	HumanoidRobot (const std::string &name)
	HumanoidRobot (const HumanoidRobot &other)
void	init (const HumanoidRobotWkPtr_t &weakPtr)
void	initCopy (const HumanoidRobotWkPtr_t &weakPtr, const HumanoidRobot &other)
	HumanoidRobot ()
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)

Additional Inherited Members
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_

Detailed Description

Device with handles.

As a deriving class of hpp::pinocchio::HumanoidRobot, it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot

This class also contains pinocchio::Gripper, Handle and JointAndShapes_t

Member Typedef Documentation

◆ Parent_t

typedef pinocchio::HumanoidRobot hpp::manipulation::Device::Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

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

protected

Constructor

Parameters

name	of the new instance,
robot	Robots that manipulate objects,
objects	Set of objects manipulated by the robot.

◆ Device() [2/2]

hpp::manipulation::Device::Device ( )

inlineprotected

For serialization only.

Member Function Documentation

◆ clone()

virtual pinocchio::DevicePtr_t hpp::manipulation::Device::clone ( ) const

virtual

Reimplemented from hpp::pinocchio::HumanoidRobot.

◆ create()

DevicePtr_t hpp::manipulation::Device::create ( const std::string & name )

static

Constructor

Parameters

name	of the new instance,

◆ HPP_SERIALIZABLE()

hpp::manipulation::Device::HPP_SERIALIZABLE ( )

protected

◆ init()

void hpp::manipulation::Device::init ( const DeviceWkPtr_t & self )

inlineprotected

◆ initCopy()

void hpp::manipulation::Device::initCopy	(	const DeviceWkPtr_t &	self,
		const Device &	other )

inlineprotected

◆ print()

virtual std::ostream & hpp::manipulation::Device::print ( std::ostream & os ) const

virtual

Print object in a stream.

Reimplemented from hpp::pinocchio::Device.

◆ removeJoints()

void hpp::manipulation::Device::removeJoints	(	const std::vector< std::string > &	jointNames,
		Configuration_t	referenceConfig )

virtual

Reimplemented from hpp::pinocchio::Device.

◆ robotFrames()

FrameIndices_t hpp::manipulation::Device::robotFrames ( const std::string & robotName ) const

◆ robotNames()

std::vector< std::string > hpp::manipulation::Device::robotNames ( ) const

◆ self()

DevicePtr_t hpp::manipulation::Device::self ( )

inline

◆ setRobotRootPosition()

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

Member Data Documentation

◆ grippers

core::Container<GripperPtr_t> hpp::manipulation::Device::grippers

◆ handles

core::Container<HandlePtr_t> hpp::manipulation::Device::handles

◆ jointAndShapes

core::Container<JointAndShapes_t> hpp::manipulation::Device::jointAndShapes

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

include/hpp/manipulation/device.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

◆ Device() [2/2]

Member Function Documentation

◆ clone()

◆ create()

◆ HPP_SERIALIZABLE()

◆ init()

◆ initCopy()

◆ print()

◆ removeJoints()

◆ robotFrames()

◆ robotNames()

◆ self()

◆ setRobotRootPosition()

Member Data Documentation

◆ grippers

◆ handles

◆ jointAndShapes