hpp::manipulation::Device Class Reference

Device with handles. More...

#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:

Collaboration diagram for hpp::manipulation::Device:

List of all members.

Public Types
typedef model::HumanoidRobot	Parent_t
Public Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream.
Accessors to container elements
Contained elements are of type model::Gripper, Handle and TriangleList
template<typename Element >
const Element &	get (const std::string &name) const
	Get an element of a container.
template<typename Element >
const Container< Element > ::ElementMap_t &	getAll () const
	Get the underlying map of a container.
template<typename Element >
void	add (const std::string &name, const Element &element)
	Add an element to a container.
Collisions
void	prepareInsertRobot ()
	Cache joint vector.
void	didInsertRobot ()
	Add collisions between the joint vector cache initialized by prepareInsertRobot() add the current Robot.
Static Public Member Functions
static DevicePtr_t	create (const std::string &name)
	Constructor.
Protected Member Functions
	Device (const std::string &name)
	Constructor.
void	init (const DeviceWkPtr_t &self)

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Detailed Description

Device with handles.

As a deriving class of hpp::model::HumanoidRobot, it is compatible with hpp::model::urdf::loadHumanoidRobot

This class also contains model::Gripper, Handle and TriangleList

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Member Typedef Documentation

typedef model::HumanoidRobot hpp::manipulation::Device::Parent_t

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Constructor & Destructor Documentation

hpp::manipulation::Device::Device

(

const std::string &

name

)

[inline, protected]

Constructor.

Parameters:

name	of the new instance,
robot	Robots that manipulate objects,
objects	Set of objects manipulated by the robot.

Reimplemented from hpp::model::Device.

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Member Function Documentation

template<typename Element >

void hpp::manipulation::Device::add	(	const std::string &	name,
		const Element &	element
	)		[inline]

Add an element to a container.

static DevicePtr_t hpp::manipulation::Device::create

(

const std::string &

name

)

[inline, static]

Constructor.

Parameters:

name	of the new instance,

Reimplemented from hpp::model::HumanoidRobot.

References init().

void hpp::manipulation::Device::didInsertRobot

(

)

Add collisions between the joint vector cache initialized by prepareInsertRobot() add the current Robot.

When creating a robot from several URDF files, this enables collisions between joints from different files.

template<typename Element >

const Element& hpp::manipulation::Device::get

(

const std::string &

name

)

const [inline]

Get an element of a container.

Reimplemented from hpp::manipulation::Container< model::GripperPtr_t >.

template<typename Element >

const Container<Element>::ElementMap_t& hpp::manipulation::Device::getAll

(

)

const [inline]

Get the underlying map of a container.

Reimplemented from hpp::manipulation::Container< model::GripperPtr_t >.

void hpp::manipulation::Device::init

(

const DeviceWkPtr_t &

self

)

[inline, protected]

Reimplemented from hpp::model::Device.

Referenced by create().

void hpp::manipulation::Device::prepareInsertRobot

(

)

[inline]

Cache joint vector.

virtual std::ostream& hpp::manipulation::Device::print

(

std::ostream &

os

)

const [inline, virtual]

Print object in a stream.

Reimplemented from hpp::manipulation::Container< model::GripperPtr_t >.