hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
rbprm-device.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_DEVICE_HH
20 #define HPP_RBPRM_DEVICE_HH
21 
22 #include <hpp/rbprm/config.hh>
23 #include <hpp/pinocchio/device.hh>
24 
25 #include <map>
26 
27 namespace hpp {
28 
29 namespace pinocchio {
30 HPP_PREDEF_CLASS(RbPrmDevice);
31 
32 typedef std::map<std::string, DevicePtr_t> T_Rom;
33 
41 class RbPrmDevice;
42 typedef boost::shared_ptr<RbPrmDevice> RbPrmDevicePtr_t;
43 
44 class HPP_RBPRM_DLLAPI RbPrmDevice : public Device {
45  public:
52  static RbPrmDevicePtr_t create(const std::string& name, DevicePtr_t& robotRom);
53 
59  static RbPrmDevicePtr_t create(const std::string& name, const T_Rom& robotRoms);
60 
61  public:
62  virtual ~RbPrmDevice();
63 
64  public:
67  virtual bool currentConfiguration(ConfigurationIn_t configuration);
68 
69  virtual void setDimensionExtraConfigSpace(const size_type& dimension);
70 
76  virtual void setEffectorReference(std::string romName, vector3_t ref);
77 
82  virtual vector3_t getEffectorReference(std::string romName);
83 
84  public:
87 
88  protected:
89  RbPrmDevice(const std::string& name, const T_Rom& robotRoms);
90 
94  void init(const RbPrmDeviceWkPtr_t& weakPtr);
95 
96  private:
97  std::map<std::string, vector3_t> effectorsReferences_;
98  RbPrmDeviceWkPtr_t weakPtr_;
99 }; // class RbPrmDevice
100 } // namespace pinocchio
101 } // namespace hpp
102 
103 #endif // HPP_RBPRM_DEVICE_HH
hpp::pinocchio::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(RbPrmDevice)
hpp::pinocchio::RbPrmDevice::robotRoms_
const T_Rom robotRoms_
Range Of Motion of the robot.
Definition: rbprm-device.hh:86
hpp
Definition: algorithm.hh:27
hpp::pinocchio::RbPrmDevicePtr_t
boost::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
hpp::pinocchio::RbPrmDevice
Definition: rbprm-device.hh:44
hpp::pinocchio::T_Rom
std::map< std::string, DevicePtr_t > T_Rom
Definition: rbprm-device.hh:32
config.hh
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64