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File: include/hpp/manipulation/handle.hh
Date: 2025-03-07 11:10:46
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1 ///
2 /// Copyright (c) 2014 CNRS
3 /// Authors: Florent Lamiraux
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_HANDLE_HH
32 #define HPP_MANIPULATION_HANDLE_HH
33
34 #include <hpp/manipulation/config.hh>
35 #include <hpp/manipulation/fwd.hh>
36 #include <pinocchio/spatial/se3.hpp>
37
38 namespace hpp {
39 namespace manipulation {
40 typedef constraints::ImplicitPtr_t ImplicitPtr_t;
41 /// Frame attached to an object that is aimed at being grasped
42 ///
43 /// Together with a hpp::pinocchio::Gripper, a handle defines a grasp.
44 /// A vector of 6 Boolean values called a mask can be passed to the
45 /// constructor to define the symmetries of the handle. For example,
46 /// {True,True,True,False,True,True} means that the handle can be
47 /// grasped with free orientation around x-axis.
48 /// See https://hal.laas.fr/hal-02995125v2 for details.
49 /// The setter method \c mask allows users to define the mask.
50 ///
51 /// Along motions where the handle is grasped by a gripper, an additional
52 /// constraint is enforced, called the complement constraint. This latter
53 /// constraint ensures that the object is rigidly fixed to the gripper.
54 ///
55 /// However, for some applications, the complement constraint can be
56 /// customized using setter \c maskComp. Note that calling setter method
57 /// \c mask reinitializes the mask complement.
58 class HPP_MANIPULATION_DLLAPI Handle {
59 public:
60 static std::string className;
61 ✗ virtual ~Handle() {};
62
63 /// Create constraint corresponding to a gripper grasping this object
64 /// \param robot the robot that grasps the handle,
65 /// \param grasp object containing the grasp information
66 /// \return the constraint of relative position between the handle and
67 /// the gripper.
68 ✗ static HandlePtr_t create(const std::string& name,
69 const Transform3s& localPosition,
70 const DeviceWkPtr_t& robot,
71 const JointPtr_t& joint) {
72 ✗ Handle* ptr = new Handle(name, localPosition, robot, joint);
73 ✗ HandlePtr_t shPtr(ptr);
74 ✗ ptr->init(shPtr);
75 ✗ return shPtr;
76 }
77 /// Return a pointer to the copy of this
78 virtual HandlePtr_t clone() const;
79
80 /// \name Name
81 /// \{
82
83 /// Get name
84 ✗ const std::string& name() const { return name_; }
85 /// Set name
86 void name(const std::string& n) { name_ = n; }
87 /// \}
88
89 /// \name Joint
90 /// \{
91
92 /// Get joint to which the handle is linked
93 ✗ const JointPtr_t& joint() const { return joint_; }
94 /// Set joint to which the handle is linked
95 void joint(const JointPtr_t& joint) { joint_ = joint; }
96
97 ✗ DevicePtr_t robot() const { return robot_.lock(); }
98 /// \}
99
100 /// Get local position in joint frame
101 ✗ const Transform3s& localPosition() const { return localPosition_; }
102
103 /// Set local position in joint frame
104 void localPosition(const Transform3s& localPosition) {
105 localPosition_ = localPosition;
106 }
107
108 /// Set constraint mask
109 void mask(const std::vector<bool>& mask);
110
111 /// Get constraint mask
112 /// See mask(const std::vector<bool>&)
113 ✗ const std::vector<bool>& mask() const { return mask_; }
114
115 /// Set mask of complement constraint
116 void maskComp(const std::vector<bool>& mask);
117
118 /// Get mask of complement constraint
119 const std::vector<bool>& maskComp() const { return maskComp_; }
120
121 /// Create constraint corresponding to a gripper grasping this handle
122 /// \param gripper object containing the gripper information
123 /// \return the constraint of relative transformation between the handle
124 /// and the gripper.
125 /// The degrees of freedom of the relative transformation that are
126 /// constrained are determined by the mask.
127 /// \sa constraints::Implicit::mask.
128 /// The constraint is not parameterizable (has constant right hand side).
129 virtual ImplicitPtr_t createGrasp(const GripperPtr_t& gripper,
130 std::string name) const;
131
132 /// Create complement constraint of gripper grasping this handle
133 /// \param gripper object containing the gripper information
134 /// \return complement constraint: constraint combined with its complement
135 /// constitute a full relative transformation constraint.
136 /// The complement constraint is parameterizable (has non constant right
137 /// hand side).
138 virtual ImplicitPtr_t createGraspComplement(const GripperPtr_t& gripper,
139 std::string name) const;
140
141 /// Create constraint composed of grasp constraint and its complement
142 /// \param gripper object containing the gripper information
143 /// \return the composition of grasp constraint and its complement, that
144 /// that is a full relative transformation constraint.
145 virtual ImplicitPtr_t createGraspAndComplement(const GripperPtr_t& gripper,
146 std::string name) const;
147
148 /// Create constraint corresponding to a pregrasping task.
149 /// \param gripper object containing the gripper information
150 /// \return the constraint of relative transformation between the handle and
151 /// the gripper.
152 /// \note 6 DOFs of the relative transformation between the handle and the
153 /// gripper
154 /// are constrained. The transformation is shifted along x-axis of
155 /// value shift.
156 virtual ImplicitPtr_t createPreGrasp(const GripperPtr_t& gripper,
157 const value_type& shift,
158 std::string name) const;
159
160 /// Get the clearance
161 ///
162 /// The clearance is a distance, from the center of the gripper and along
163 /// the x-aixs, that "ensures" an object being at that distance is not
164 /// colliding with this gripper.
165 /// It also gives an order of magnitude of the size of the gripper.
166 ✗ value_type clearance() const { return clearance_; }
167
168 /// Set the clearance
169 /// \sa clearance()
170 ✗ void clearance(const value_type& clearance) { clearance_ = clearance; }
171
172 protected:
173 /// Constructor
174 /// \param robot the robot that grasps the handle,
175 /// \param grasp object containing the grasp information
176 /// \return the constraint of relative position between the handle and
177 /// the gripper.
178 ✗ Handle(const std::string& name, const Transform3s& localPosition,
179 const DeviceWkPtr_t& robot, const JointPtr_t& joint)
180 ✗ : name_(name),
181 ✗ localPosition_(localPosition),
182 ✗ joint_(joint),
183 ✗ robot_(robot),
184 ✗ clearance_(0),
185 ✗ mask_(6, true),
186 ✗ maskComp_(6, false),
187 ✗ weakPtr_() {}
188 ✗ void init(HandleWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
189
190 virtual std::ostream& print(std::ostream& os) const;
191
192 private:
193 std::string name_;
194 /// Position of the handle in the joint frame.
195 Transform3s localPosition_;
196 /// Joint to which the handle is linked.
197 JointPtr_t joint_;
198 /// Pointer to the robot
199 DeviceWkPtr_t robot_;
200 /// Clearance
201 value_type clearance_;
202 /// Mask
203 std::vector<bool> mask_;
204 /// Mask of complement constraint
205 std::vector<bool> maskComp_;
206 /// Weak pointer to itself
207 HandleWkPtr_t weakPtr_;
208
209 friend std::ostream& operator<<(std::ostream&, const Handle&);
210 }; // class Handle
211
212 std::ostream& operator<<(std::ostream& os, const Handle& handle);
213 } // namespace manipulation
214 } // namespace hpp
215
216 #endif // HPP_MANIPULATION_HANDLE_HH
217