19 #ifndef HPP_RBPRM_DEVICE_HH 20 # define HPP_RBPRM_DEVICE_HH 23 #include <hpp/pinocchio/device.hh> 32 typedef std::map<std::string, DevicePtr_t>
T_Rom;
53 static RbPrmDevicePtr_t create (
const std::string& name, DevicePtr_t& robotRom);
60 static RbPrmDevicePtr_t create (
const std::string& name,
const T_Rom& robotRoms);
68 virtual bool currentConfiguration (ConfigurationIn_t configuration);
71 virtual void setDimensionExtraConfigSpace (
const size_type& dimension);
78 virtual void setEffectorReference(std::string romName, vector3_t ref);
85 virtual vector3_t getEffectorReference(std::string romName);
93 RbPrmDevice (
const std::string& name,
const T_Rom& robotRoms);
98 void init (
const RbPrmDeviceWkPtr_t& weakPtr);
101 std::map<std::string, vector3_t> effectorsReferences_;
102 RbPrmDeviceWkPtr_t weakPtr_;
107 #endif // HPP_RBPRM_DEVICE_HH #define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:27
boost::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
HPP_PREDEF_CLASS(RbPrmDevice)
const T_Rom robotRoms_
Range Of Motion of the robot.
Definition: rbprm-device.hh:90
std::map< std::string, DevicePtr_t > T_Rom
Definition: rbprm-device.hh:32
Definition: rbprm-device.hh:44