device.hh

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#ifndef HPP_MANIPULATION_DEVICE_HH
#define HPP_MANIPULATION_DEVICE_HH
 
#include <hpp/core/container.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/pinocchio/humanoid-robot.hh>
 
namespace hpp {
namespace manipulation {
class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
 public:
  typedef pinocchio::HumanoidRobot Parent_t;
 
  static DevicePtr_t create(const std::string& name) {
    Device* ptr = new Device(name);
    DevicePtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  DevicePtr_t self() const { return self_.lock(); }
 
  virtual std::ostream& print(std::ostream& os) const;
 
  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);
 
  core::Container<HandlePtr_t> handles;
  core::Container<GripperPtr_t> grippers;
  core::Container<JointAndShapes_t> jointAndShapes;
 
 protected:
  Device(const std::string& name) : Parent_t(name) {}
 
  void init(const DeviceWkPtr_t& self) {
    Parent_t::init(self);
    self_ = self;
  }
 
  void initCopy(const DeviceWkPtr_t& self, const Device& other) {
    Parent_t::initCopy(self, other);
    self_ = self;
  }
 
  Device() {}
 
 private:
  DeviceWkPtr_t self_;
 
  HPP_SERIALIZABLE();
};  // class Device
}  // namespace manipulation
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::manipulation::Device)
 
#endif  // HPP_MANIPULATION_DEVICE_HH