humanoid-robot.hh

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//
// Copyright (c) 2016 CNRS
// Author: Joseph Mirabel from Florent Lamiraux
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_HUMANOID_ROBOT_HH
#define HPP_PINOCCHIO_HUMANOID_ROBOT_HH
 
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/pinocchio/fwd.hh>
#include <iostream>
#include <vector>
 
namespace hpp {
namespace pinocchio {
 
class HPP_PINOCCHIO_DLLAPI HumanoidRobot : public Device {
 public:
  virtual ~HumanoidRobot();
 
  virtual DevicePtr_t clone() const;
 
  HumanoidRobotPtr_t self() const { return weakPtr_.lock(); }
 
 
  static HumanoidRobotPtr_t create(const std::string& name);
 
  JointPtr_t waist() const;
 
  void waist(const JointPtr_t& joint);
 
  JointPtr_t chest() const;
 
  void chest(const JointPtr_t& joint);
 
  JointPtr_t leftWrist() const;
 
  void leftWrist(const JointPtr_t& joint);
 
  JointPtr_t rightWrist() const;
 
  void rightWrist(const JointPtr_t& joint);
 
  JointPtr_t leftAnkle() const;
 
  void leftAnkle(const JointPtr_t& joint);
 
  JointPtr_t rightAnkle() const;
 
  void rightAnkle(const JointPtr_t& joint);
 
  JointPtr_t gazeJoint() const;
 
  void gazeJoint(const JointPtr_t& joint);
 
  void gaze(const vector3_t& origin, const vector3_t& dir) {
    gazeOrigin_ = origin;
    gazeDirection_ = dir;
  }
 
 protected:
  HumanoidRobot(const std::string& name);
 
  HumanoidRobot(const HumanoidRobot& other);
 
  void init(const HumanoidRobotWkPtr_t& weakPtr);
 
  void initCopy(const HumanoidRobotWkPtr_t& weakPtr,
                const HumanoidRobot& other);
 
  HumanoidRobot() {}
 
 private:
  HumanoidRobotWkPtr_t weakPtr_;
  JointPtr_t waist_;
  JointPtr_t chest_;
  JointPtr_t leftWrist_;
  JointPtr_t rightWrist_;
  JointPtr_t leftAnkle_;
  JointPtr_t rightAnkle_;
  JointPtr_t gazeJoint_;
  vector3_t gazeOrigin_;
  vector3_t gazeDirection_;
 
  HPP_SERIALIZABLE();
};  // class HumanoidRobot
}  // namespace pinocchio
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::pinocchio::HumanoidRobot)
 
#endif  // HPP_PINOCCHIO_HUMANOID_ROBOT_HH