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;
52 static RbPrmDevicePtr_t create(
const std::string& name, DevicePtr_t& robotRom);
67 virtual bool currentConfiguration(ConfigurationIn_t configuration);
69 virtual void setDimensionExtraConfigSpace(
const size_type& dimension);
76 virtual void setEffectorReference(std::string romName, vector3_t ref);
82 virtual vector3_t getEffectorReference(std::string romName);
94 void init(
const RbPrmDeviceWkPtr_t& weakPtr);
97 std::map<std::string, vector3_t> effectorsReferences_;
98 RbPrmDeviceWkPtr_t weakPtr_;
103 #endif // HPP_RBPRM_DEVICE_HH