| Directory: | ./ |
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| File: | include/hpp/manipulation/device.hh |
| Date: | 2025-03-07 11:10:46 |
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| 1 | /// | ||
| 2 | /// Copyright (c) 2014 CNRS | ||
| 3 | /// Authors: Florent Lamiraux, Joseph Mirabel | ||
| 4 | /// | ||
| 5 | /// | ||
| 6 | |||
| 7 | // Redistribution and use in source and binary forms, with or without | ||
| 8 | // modification, are permitted provided that the following conditions are | ||
| 9 | // met: | ||
| 10 | // | ||
| 11 | // 1. Redistributions of source code must retain the above copyright | ||
| 12 | // notice, this list of conditions and the following disclaimer. | ||
| 13 | // | ||
| 14 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 15 | // notice, this list of conditions and the following disclaimer in the | ||
| 16 | // documentation and/or other materials provided with the distribution. | ||
| 17 | // | ||
| 18 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 19 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 20 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 21 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 22 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 23 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 24 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 25 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 26 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 27 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 28 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 29 | // DAMAGE. | ||
| 30 | |||
| 31 | #ifndef HPP_MANIPULATION_DEVICE_HH | ||
| 32 | #define HPP_MANIPULATION_DEVICE_HH | ||
| 33 | |||
| 34 | #include <hpp/core/container.hh> | ||
| 35 | #include <hpp/manipulation/config.hh> | ||
| 36 | #include <hpp/manipulation/fwd.hh> | ||
| 37 | #include <hpp/pinocchio/humanoid-robot.hh> | ||
| 38 | |||
| 39 | namespace hpp { | ||
| 40 | namespace manipulation { | ||
| 41 | /// Device with handles. | ||
| 42 | /// | ||
| 43 | /// As a deriving class of hpp::pinocchio::HumanoidRobot, | ||
| 44 | /// it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot | ||
| 45 | /// | ||
| 46 | /// This class also contains pinocchio::Gripper, Handle and \ref | ||
| 47 | /// JointAndShapes_t | ||
| 48 | class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot { | ||
| 49 | public: | ||
| 50 | typedef pinocchio::HumanoidRobot Parent_t; | ||
| 51 | |||
| 52 | /// Constructor | ||
| 53 | /// \param name of the new instance, | ||
| 54 | 2 | static DevicePtr_t create(const std::string& name) { | |
| 55 |
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2 | Device* ptr = new Device(name); |
| 56 | 2 | DevicePtr_t shPtr(ptr); | |
| 57 |
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2 | ptr->init(shPtr); |
| 58 | 2 | return shPtr; | |
| 59 | } | ||
| 60 | |||
| 61 | ✗ | DevicePtr_t self() const { return self_.lock(); } | |
| 62 | |||
| 63 | /// Print object in a stream | ||
| 64 | virtual std::ostream& print(std::ostream& os) const; | ||
| 65 | |||
| 66 | void setRobotRootPosition(const std::string& robotName, | ||
| 67 | const Transform3s& positionWRTParentJoint); | ||
| 68 | |||
| 69 | virtual pinocchio::DevicePtr_t clone() const; | ||
| 70 | |||
| 71 | std::vector<std::string> robotNames() const; | ||
| 72 | |||
| 73 | FrameIndices_t robotFrames(const std::string& robotName) const; | ||
| 74 | |||
| 75 | void removeJoints(const std::vector<std::string>& jointNames, | ||
| 76 | Configuration_t referenceConfig); | ||
| 77 | |||
| 78 | core::Container<HandlePtr_t> handles; | ||
| 79 | core::Container<GripperPtr_t> grippers; | ||
| 80 | core::Container<JointAndShapes_t> jointAndShapes; | ||
| 81 | |||
| 82 | protected: | ||
| 83 | /// Constructor | ||
| 84 | /// \param name of the new instance, | ||
| 85 | /// \param robot Robots that manipulate objects, | ||
| 86 | /// \param objects Set of objects manipulated by the robot. | ||
| 87 | 2 | Device(const std::string& name) : Parent_t(name) {} | |
| 88 | |||
| 89 | 2 | void init(const DeviceWkPtr_t& self) { | |
| 90 |
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2 | Parent_t::init(self); |
| 91 | 2 | self_ = self; | |
| 92 | 2 | } | |
| 93 | |||
| 94 | ✗ | void initCopy(const DeviceWkPtr_t& self, const Device& other) { | |
| 95 | ✗ | Parent_t::initCopy(self, other); | |
| 96 | ✗ | self_ = self; | |
| 97 | } | ||
| 98 | |||
| 99 | /// For serialization only | ||
| 100 | ✗ | Device() {} | |
| 101 | |||
| 102 | private: | ||
| 103 | DeviceWkPtr_t self_; | ||
| 104 | |||
| 105 | HPP_SERIALIZABLE(); | ||
| 106 | }; // class Device | ||
| 107 | } // namespace manipulation | ||
| 108 | } // namespace hpp | ||
| 109 | |||
| 110 | 1 | BOOST_CLASS_EXPORT_KEY(hpp::manipulation::Device) | |
| 111 | |||
| 112 | #endif // HPP_MANIPULATION_DEVICE_HH | ||
| 113 |