1 |
|
|
// Copyright (c) 2014, LAAS-CNRS |
2 |
|
|
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
3 |
|
|
// |
4 |
|
|
|
5 |
|
|
// Redistribution and use in source and binary forms, with or without |
6 |
|
|
// modification, are permitted provided that the following conditions are |
7 |
|
|
// met: |
8 |
|
|
// |
9 |
|
|
// 1. Redistributions of source code must retain the above copyright |
10 |
|
|
// notice, this list of conditions and the following disclaimer. |
11 |
|
|
// |
12 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
13 |
|
|
// notice, this list of conditions and the following disclaimer in the |
14 |
|
|
// documentation and/or other materials provided with the distribution. |
15 |
|
|
// |
16 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
17 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
18 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
19 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
20 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
21 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
22 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
23 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
24 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
25 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
26 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
27 |
|
|
// DAMAGE. |
28 |
|
|
|
29 |
|
|
#ifndef HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH |
30 |
|
|
#define HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH |
31 |
|
|
|
32 |
|
|
#include <hpp/manipulation/fwd.hh> |
33 |
|
|
#include <pinocchio/spatial/se3.hpp> |
34 |
|
|
|
35 |
|
|
#include "hpp/manipulation/parser/parser.hh" |
36 |
|
|
|
37 |
|
|
namespace hpp { |
38 |
|
|
namespace manipulation { |
39 |
|
|
namespace srdf { |
40 |
|
|
/// \addtogroup factories |
41 |
|
|
/// \{ |
42 |
|
|
|
43 |
|
|
using parser::ObjectFactory; |
44 |
|
|
using parser::XMLAttribute; |
45 |
|
|
using parser::XMLDocument; |
46 |
|
|
using parser::XMLElement; |
47 |
|
|
using parser::XMLNode; |
48 |
|
|
using parser::XMLText; |
49 |
|
|
|
50 |
|
|
/// \brief Build an object of type hpp::manipulation::Handle |
51 |
|
|
class HandleFactory : public ObjectFactory { |
52 |
|
|
public: |
53 |
|
2 |
HandleFactory(ObjectFactory* parent, const XMLElement* element) |
54 |
✓✗ |
2 |
: ObjectFactory(parent, element) {} |
55 |
|
|
|
56 |
|
|
virtual void finishTags(); |
57 |
|
|
|
58 |
|
|
HandlePtr_t handle() const; |
59 |
|
|
|
60 |
|
|
protected: |
61 |
|
|
HandlePtr_t handle_; |
62 |
|
|
|
63 |
|
|
/// The element required to build the handle |
64 |
|
|
Transform3f localPosition_; |
65 |
|
|
std::string linkName_; |
66 |
|
|
}; |
67 |
|
|
|
68 |
|
|
/// \} |
69 |
|
|
} // namespace srdf |
70 |
|
|
} // namespace manipulation |
71 |
|
|
} // namespace hpp |
72 |
|
|
|
73 |
|
|
#endif // HPP_MANIPULATION_SRDF_FACTORIES_HANDLE_HH |