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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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#include "hpp/manipulation/srdf/factories/handle.hh" |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/handle.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/util/debug.hh> |
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#include <hpp/util/pointer.hh> |
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#include <pinocchio/multibody/model.hpp> |
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#include "hpp/manipulation/srdf/factories/position.hh" |
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#ifndef TIXML_SSCANF |
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#define TIXML_SSCANF sscanf |
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#endif |
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namespace hpp { |
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namespace manipulation { |
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namespace srdf { |
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void HandleFactory::finishTags() { |
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✓✗✓✗
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ObjectFactoryList factories = getChildrenOfType("position"); |
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✓✗ |
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if (factories.empty()) { |
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✓✗✓✗
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factories = getChildrenOfType("local_position"); |
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hppDout(warning, "Use tag position instead of local_position"); |
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} |
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✗✓ |
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if (factories.size() != 1) |
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throw std::invalid_argument("handle tag " + name() + |
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" should have exactly one <position>"); |
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✓✗ |
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PositionFactory* pf = factories.front()->as<PositionFactory>(); |
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✓✗ |
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localPosition_ = pf->position(); |
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✓✗✓✗
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factories = getChildrenOfType("link"); |
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✗✓ |
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if (factories.size() != 1) |
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throw std::invalid_argument("handle tag " + name() + |
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" should have exactly one <link>"); |
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✓✗✓✗
✓✗ |
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linkName_ = root()->prependPrefix(factories.front()->name()); |
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/// Get the clearance |
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value_type clearance = 0; |
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✓✗✓✗
✗✓ |
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if (hasAttribute("clearance")) { |
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if (TIXML_SSCANF(getAttribute("clearance").c_str(), "%lf", &clearance) != |
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1) { |
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hppDout(error, "Could not cast attribute clearance of tag " |
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<< name() << " to double"); |
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} |
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} else { |
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hppDout(warning, |
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"Missing attribute clearance of tag " << name() << ". Assuming 0"); |
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} |
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/// Get the mask |
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✓✗✓✗
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factories = getChildrenOfType("mask"); |
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std::vector<bool> mask(6, true); |
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if (factories.size() > 1) { |
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hppDout(warning, |
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"handle should have at most one <mask>. Using the first one"); |
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} |
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✗✓ |
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if (!factories.empty()) { |
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parser::SequenceFactory<bool>* mf = |
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factories.front()->as<parser::SequenceFactory<bool> >(); |
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mask = mf->values(); |
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} |
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/// Get the mask complement |
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✓✗✓✗
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factories = getChildrenOfType("mask_complement"); |
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std::vector<bool> maskComp(6, false); |
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if (factories.size() > 1) { |
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hppDout(warning, |
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"handle should have at most one <mask_complement>. Using the first " |
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"one"); |
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} |
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bool maskCompSpecified(false); |
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if (!factories.empty()) { |
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maskCompSpecified = true; |
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parser::SequenceFactory<bool>* mf = |
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factories.front()->as<parser::SequenceFactory<bool> >(); |
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maskComp = mf->values(); |
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} |
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/// We have now all the information to build the handle. |
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✓✗✓✗
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DevicePtr_t d = HPP_DYNAMIC_PTR_CAST(Device, root()->device()); |
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if (!d) { |
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hppDout(error, "Failed to create handle"); |
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return; |
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} |
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const pinocchio::Model& model = d->model(); |
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if (!model.existBodyName(linkName_)) |
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throw std::invalid_argument("Link " + linkName_ + |
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" not found. Cannot create handle"); |
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const ::pinocchio::Frame& linkFrame = |
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model.frames[model.getFrameId(linkName_)]; |
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assert(linkFrame.type == ::pinocchio::BODY); |
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pinocchio::JointIndex index(0); |
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std::string jointName("universe"); |
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JointPtr_t joint(Joint::create(d, linkFrame.parent)); |
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if (joint) { |
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index = joint->index(); |
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jointName = joint->name(); |
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} |
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// Handle position is expressed in link frame. We need to express it in |
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// joint frame. |
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handle_ = Handle::create(root()->prependPrefix(name()), |
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linkFrame.placement * localPosition_, d, joint); |
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handle_->clearance(clearance); |
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handle_->mask(mask); |
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if (maskCompSpecified) handle_->maskComp(maskComp); |
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d->handles.add(handle_->name(), handle_); |
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assert(d->model().existFrame(jointName)); |
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::pinocchio::FrameIndex previousFrame(d->model().getFrameId(jointName)); |
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d->model().addFrame(::pinocchio::Frame(handle_->name(), index, previousFrame, |
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linkFrame.placement * localPosition_, |
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::pinocchio::OP_FRAME)); |
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d->createData(); |
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} |
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HandlePtr_t HandleFactory::handle() const { return handle_; } |
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} // namespace srdf |
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} // namespace manipulation |
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} // namespace hpp |