hpp-pinocchio 6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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simple-device.hh
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1// Copyright (c) 2016, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_PINOCCHIO_SIMPLE_DEVICE_HH
30#define HPP_PINOCCHIO_SIMPLE_DEVICE_HH
31
33#include <hpp/pinocchio/fwd.hh>
34
35namespace hpp {
36namespace pinocchio {
38 const std::string& name = "humanoidSimple", bool usingFF = true,
40
42 const std::string& name = "humanoidSimple",
44
45namespace unittest {
47
48DevicePtr_t makeDevice(TestDeviceType type, const std::string& prefix = "");
49} // namespace unittest
50} // namespace pinocchio
51} // namespace hpp
52#endif // HPP_PINOCCHIO_SIMPLE_DEVICE_HH
DevicePtr_t makeDevice(TestDeviceType type, const std::string &prefix="")
TestDeviceType
Definition simple-device.hh:46
@ ManipulatorArm2
Definition simple-device.hh:46
@ HumanoidSimple
Definition simple-device.hh:46
@ HumanoidRomeo
Definition simple-device.hh:46
@ CarLike
Definition simple-device.hh:46
shared_ptr< Device > DevicePtr_t
Definition fwd.hh:118
DevicePtr_t humanoidSimple(const std::string &name="humanoidSimple", bool usingFF=true, Computation_t compFlags=(Computation_t)(JOINT_POSITION|JACOBIAN))
Computation_t
Definition device-data.hh:40
@ JACOBIAN
Definition device-data.hh:42
@ JOINT_POSITION
Definition device-data.hh:41
Utility functions.
Definition body.hh:39
Definition collision-object.hh:40