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);
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);
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