hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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gripper.hh
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1//
2// Copyright (c) 2016 CNRS
3// Authors: Joseph Mirabel from 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
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29// DAMAGE.
30
31#ifndef HPP_PINOCCHIO_GRIPPER_HH
32#define HPP_PINOCCHIO_GRIPPER_HH
33
35#include <hpp/pinocchio/fwd.hh>
36
37namespace hpp {
38namespace pinocchio {
49 public:
53 static GripperPtr_t create(const std::string& name,
54 const DeviceWkPtr_t& device) {
55 Gripper* ptr = new Gripper(name, device);
56 GripperPtr_t shPtr(ptr);
57 ptr->init(shPtr);
58 return shPtr;
59 }
60
61 static GripperPtr_t createCopy(const GripperPtr_t& gripper,
62 const DeviceWkPtr_t& otherDevice) {
63 Gripper* ptr = new Gripper(gripper->name(), otherDevice);
64 ptr->clearance(gripper->clearance());
65 GripperPtr_t shPtr(ptr);
66 ptr->init(shPtr);
67 return shPtr;
68 }
69
71 const JointPtr_t& joint() const { return joint_; }
72
74 const FrameIndex& frameId() const { return fid_; }
75
78
80 const std::string& name() const { return name_; }
81
88 value_type clearance() const { return clearance_; }
89
92 void clearance(const value_type& clearance) { clearance_ = clearance; }
93
95
96 std::ostream& print(std::ostream& os) const;
97
98 protected:
104 Gripper(const std::string& name, const DeviceWkPtr_t& device);
105
106 void init(GripperWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
107
108 private:
109 inline DevicePtr_t device() const;
110
111 std::string name_;
112 DeviceWkPtr_t device_;
114 JointPtr_t joint_;
115 mutable FrameIndex fid_;
117 value_type clearance_;
119 GripperWkPtr_t weakPtr_;
120}; // class Gripper
121
122inline std::ostream& operator<<(std::ostream& os, const Gripper& gripper) {
123 return gripper.print(os);
124}
125} // namespace pinocchio
126} // namespace hpp
127
128#endif // HPP_PINOCCHIO_GRIPPER_HH
Definition gripper.hh:48
const std::string & name() const
get name
Definition gripper.hh:80
static GripperPtr_t create(const std::string &name, const DeviceWkPtr_t &device)
Definition gripper.hh:53
Gripper(const std::string &name, const DeviceWkPtr_t &device)
const Transform3s & objectPositionInJoint() const
Get handle position in the the Grippering joint.
const JointPtr_t & joint() const
Get joint to which the gripper is attached.
Definition gripper.hh:71
GripperPtr_t clone() const
std::ostream & print(std::ostream &os) const
const FrameIndex & frameId() const
Get the frame Id of the gripper in the vector of frame of the Model.
Definition gripper.hh:74
void clearance(const value_type &clearance)
Definition gripper.hh:92
value_type clearance() const
Definition gripper.hh:88
static GripperPtr_t createCopy(const GripperPtr_t &gripper, const DeviceWkPtr_t &otherDevice)
Definition gripper.hh:61
void init(GripperWkPtr_t weakPtr)
Definition gripper.hh:106
#define HPP_PINOCCHIO_DLLAPI
Definition config.hh:88
shared_ptr< Device > DevicePtr_t
Definition fwd.hh:118
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition device.hh:366
shared_ptr< Joint > JointPtr_t
Definition fwd.hh:123
::pinocchio::FrameIndex FrameIndex
Definition fwd.hh:75
::pinocchio::SE3 Transform3s
Definition fwd.hh:81
double value_type
Definition fwd.hh:51
shared_ptr< Gripper > GripperPtr_t
Definition fwd.hh:125
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40