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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_POSITION_HH |
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#define HPP_MANIPULATION_SRDF_FACTORIES_POSITION_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/factories/sequence.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 a fcl::Transform. |
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/// |
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/// The sequence of number in the XML text must: |
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/// \li be of length 7; |
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/// \li begin with the translation (3 coordinates); |
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/// \li end with a quaternion (4 coordinates). |
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class PositionFactory : public parser::SequenceFactory<float> { |
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public: |
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PositionFactory(ObjectFactory* parent, const parser::XMLElement* element) |
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✓✗ |
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: SequenceFactory<float>(parent, element, 7) {} |
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virtual void finishTags(); |
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const Transform3f& position() const { return position_; } |
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private: |
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void computeTransformFromText(); |
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void computeTransformFromAttributes(); |
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Transform3f position_; |
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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_POSITION_HH |