hpp::manipulation::Device Class Reference

#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:

Collaboration diagram for hpp::manipulation::Device:

Public Types
typedef pinocchio::HumanoidRobot	Parent_t

Public Member Functions
DevicePtr_t	self () const
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream. More...
void	setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)
virtual pinocchio::DevicePtr_t	clone () const
std::vector< std::string >	robotNames () const
FrameIndices_t	robotFrames (const std::string &robotName) const
void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)

Static Public Member Functions
static DevicePtr_t	create (const std::string &name)

Public Attributes
core::Container< HandlePtr_t >	handles
core::Container< GripperPtr_t >	grippers
core::Container< JointAndShapes_t >	jointAndShapes

Protected Member Functions
	Device (const std::string &name)
void	init (const DeviceWkPtr_t &self)
void	initCopy (const DeviceWkPtr_t &self, const Device &other)
	Device ()
	For serialization only. More...

Detailed Description

Device with handles.

As a deriving class of hpp::pinocchio::HumanoidRobot, it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot

This class also contains pinocchio::Gripper, Handle and JointAndShapes_t

Member Typedef Documentation

Parent_t

typedef pinocchio::HumanoidRobot hpp::manipulation::Device::Parent_t

Constructor & Destructor Documentation

Device() [1/2]

hpp::manipulation::Device::Device ( const std::string &  name )

inlineprotected

Constructor

Parameters

name	of the new instance,
robot	Robots that manipulate objects,
objects	Set of objects manipulated by the robot.

Device() [2/2]

hpp::manipulation::Device::Device ( )

inlineprotected

For serialization only.

Member Function Documentation

clone()

virtual pinocchio::DevicePtr_t hpp::manipulation::Device::clone ( ) const

virtual

create()

static DevicePtr_t hpp::manipulation::Device::create ( const std::string &  name )

inlinestatic

Constructor

Parameters

name	of the new instance,

init()

void hpp::manipulation::Device::init ( const DeviceWkPtr_t &  self )

inlineprotected

initCopy()

void hpp::manipulation::Device::initCopy ( const DeviceWkPtr_t &  self, const Device &  other  )

inlineprotected

print()

virtual std::ostream& hpp::manipulation::Device::print ( std::ostream &  os ) const

virtual

Print object in a stream.

removeJoints()

void hpp::manipulation::Device::removeJoints	(	const std::vector< std::string > &	jointNames,
		Configuration_t	referenceConfig
	)

robotFrames()

FrameIndices_t hpp::manipulation::Device::robotFrames

(

const std::string &

robotName

)

const

robotNames()

std::vector<std::string> hpp::manipulation::Device::robotNames

(

)

const

self()

DevicePtr_t hpp::manipulation::Device::self ( ) const

inline

setRobotRootPosition()

void hpp::manipulation::Device::setRobotRootPosition	(	const std::string &	robotName,
		const Transform3s &	positionWRTParentJoint
	)

Member Data Documentation

grippers

core::Container<GripperPtr_t> hpp::manipulation::Device::grippers

handles

core::Container<HandlePtr_t> hpp::manipulation::Device::handles

jointAndShapes

core::Container<JointAndShapes_t> hpp::manipulation::Device::jointAndShapes

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The documentation for this class was generated from the following file:

• include/hpp/manipulation/device.hh