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// |
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// Copyright (c) 2016 CNRS |
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// Authors: Joseph Mirabel from Florent Lamiraux |
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// |
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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/pinocchio/device.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <pinocchio/multibody/model.hpp> |
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#include <pinocchio/spatial/se3.hpp> |
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namespace hpp { |
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namespace pinocchio { |
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Gripper::Gripper(const std::string& name, const DeviceWkPtr_t& device) |
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: name_(name), device_(device), clearance_(0) { |
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DevicePtr_t d = this->device(); |
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fid_ = d->model().getFrameId(name); |
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hppDout(info, "Creating gripper " << name << " with frame id " << fid_); |
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joint_ = Joint::create(d, d->model().frames[fid_].parent); |
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} |
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const Transform3s& Gripper::objectPositionInJoint() const { |
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// Check that the rank of the gripper frame has not been modified after |
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// appending other models |
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const Model& model(this->device()->model()); |
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if (model.frames[fid_].name != name_) fid_ = model.getFrameId(name_); |
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return model.frames[fid_].placement; |
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} |
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GripperPtr_t Gripper::clone() const { return Gripper::create(name_, device_); } |
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std::ostream& Gripper::print(std::ostream& os) const { |
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os << "name :" << name() << std::endl; |
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os << "Position in joint :" << objectPositionInJoint(); |
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os << "Joint :" << (joint() ? joint()->name() : "universe") << std::endl; |
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os << std::endl; |
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return os; |
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} |
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DevicePtr_t Gripper::device() const { |
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DevicePtr_t d = device_.lock(); |
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assert(d); |
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return d; |
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} |
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} // namespace pinocchio |
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} // namespace hpp |
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