gripper.hh

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//
// Copyright (c) 2016 CNRS
// Authors: Joseph Mirabel from Florent Lamiraux
//
//
// This file is part of hpp-pinocchio.
// hpp-pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-pinocchio. If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_PINOCCHIO_GRIPPER_HH
# define HPP_PINOCCHIO_GRIPPER_HH

# include <hpp/pinocchio/fwd.hh>
# include <hpp/pinocchio/config.hh>

namespace hpp {
  namespace pinocchio {
    class HPP_PINOCCHIO_DLLAPI Gripper
    {
      public:
        static GripperPtr_t create (const std::string& name,
            const DeviceWkPtr_t& device)
        {
          Gripper* ptr = new Gripper (name, device);
          GripperPtr_t shPtr (ptr);
          ptr->init (shPtr);
          return shPtr;
        }

        static GripperPtr_t createCopy (const GripperPtr_t& gripper,
            const DeviceWkPtr_t& otherDevice)
        {
          Gripper* ptr = new Gripper (gripper->name(), otherDevice);
          ptr->clearance(gripper->clearance());
          GripperPtr_t shPtr (ptr);
          ptr->init (shPtr);
          return shPtr;
        }

        const JointPtr_t& joint () const
        {
          return joint_;
        }

        const FrameIndex& frameId () const
        {
          return fid_;
        }

        const Transform3f& objectPositionInJoint () const;

        const std::string& name () const
        {
          return name_;
        }

        value_type clearance () const
        {
          return clearance_;
        }

        void clearance (const value_type& clearance)
        {
          clearance_ = clearance;
        }

        GripperPtr_t clone () const;

        std::ostream& print (std::ostream& os) const;

      protected:
        Gripper (const std::string& name, const DeviceWkPtr_t& device);

        void init (GripperWkPtr_t weakPtr)
        {
          weakPtr_ = weakPtr;
        }

      private:
        inline DevicePtr_t device() const;

        std::string name_;
        DeviceWkPtr_t device_;
        JointPtr_t joint_;
        FrameIndex fid_;
        value_type clearance_;
        GripperWkPtr_t weakPtr_;
    }; // class Gripper

    inline std::ostream& operator<< (std::ostream& os, const Gripper& gripper)
    {
      return gripper.print (os);
    }
  } // namespace pinocchio
} // namespace hpp

#endif // HPP_PINOCCHIO_GRIPPER_HH