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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_MANIPULATION_SRDF_FACTORIES_GRIPPER_HH |
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#define HPP_MANIPULATION_SRDF_FACTORIES_GRIPPER_HH |
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#include <hpp/manipulation/fwd.hh> |
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#include <pinocchio/spatial/se3.hpp> |
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#include "hpp/manipulation/parser/parser.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace srdf { |
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/// \addtogroup factories |
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/// \{ |
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/// \brief Build an object of type hpp::pinocchio::Gripper. |
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class GripperFactory : public parser::ObjectFactory { |
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public: |
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GripperFactory(ObjectFactory* parent, const parser::XMLElement* element) |
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: ObjectFactory(parent, element) {} |
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virtual void finishTags(); |
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GripperPtr_t gripper() const; |
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protected: |
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GripperPtr_t gripper_; |
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/// The element required to build the gripper. |
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Transform3f localPosition_; |
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std::string linkName_; |
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std::list<std::string> collisionLinks_; |
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}; |
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/// \} |
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} // namespace srdf |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_SRDF_FACTORIES_GRIPPER_HH |