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|---|---|---|---|
| 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_POSITION_HH | ||
| 30 | #define HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH | ||
| 31 | |||
| 32 | #include <hpp/manipulation/fwd.hh> | ||
| 33 | #include <pinocchio/spatial/se3.hpp> | ||
| 34 | |||
| 35 | #include "hpp/manipulation/parser/factories/sequence.hh" | ||
| 36 | |||
| 37 | namespace hpp { | ||
| 38 | namespace manipulation { | ||
| 39 | namespace srdf { | ||
| 40 | /// \addtogroup factories | ||
| 41 | /// \{ | ||
| 42 | |||
| 43 | /// \brief Build a coal::Transform. | ||
| 44 | /// | ||
| 45 | /// The sequence of number in the XML text must: | ||
| 46 | /// \li be of length 7; | ||
| 47 | /// \li begin with the translation (3 coordinates); | ||
| 48 | /// \li end with a quaternion (4 coordinates). | ||
| 49 | class PositionFactory : public parser::SequenceFactory<float> { | ||
| 50 | public: | ||
| 51 | 9 | PositionFactory(ObjectFactory* parent, const parser::XMLElement* element) | |
| 52 |
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9 | : SequenceFactory<float>(parent, element, 7) {} |
| 53 | |||
| 54 | virtual void finishTags(); | ||
| 55 | |||
| 56 | 9 | const Transform3s& position() const { return position_; } | |
| 57 | |||
| 58 | private: | ||
| 59 | void computeTransformFromText(); | ||
| 60 | void computeTransformFromAttributes(); | ||
| 61 | |||
| 62 | Transform3s position_; | ||
| 63 | }; | ||
| 64 | |||
| 65 | /// \} | ||
| 66 | } // namespace srdf | ||
| 67 | } // namespace manipulation | ||
| 68 | } // namespace hpp | ||
| 69 | |||
| 70 | #endif // HPP_MANIPULATION_SRDF_FACTORIES_POSITION_HH | ||
| 71 |