#include <hpp/manipulation/device.hh>

Inheritance diagram for hpp::manipulation::Device:

Collaboration diagram for hpp::manipulation::Device:

Public Types
typedef pinocchio::HumanoidRobot	Parent_t
Public Types inherited from hpp::pinocchio::Device
typedef std::pair< CollisionPair_t
typedef std::list< CollisionPairs_t

Public Member Functions
DevicePtr_t	self ()
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream.
void	setRobotRootPosition (const std::string &robotName, const Transform3s &positionWRTParentJoint)
virtual pinocchio::DevicePtr_t	clone () const
std::vector< std::string >	robotNames () const
FrameIndices_t	robotFrames (const std::string &robotName) const
void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
waist () const
void	JointPtr_t &joint)
chest () const
void	JointPtr_t &joint)
leftWrist () const
void	JointPtr_t &joint)
rightWrist () const
void	JointPtr_t &joint)
leftAnkle () const
void	JointPtr_t &joint)
rightAnkle () const
void	JointPtr_t &joint)
gazeJoint () const
void	JointPtr_t &joint)
void	vector3_t &dir)
virtual	~HumanoidRobot ()
self () const
virtual	~HumanoidRobot ()
self () const
Public Member Functions inherited from hpp::pinocchio::Device
coal::AABB	computeAABB () const
void	modelPtr)
void	geomModelPtr)
void	visualModelPtr)
void	dataPtr)
void	createData ()
void	geomDataPtr)
void	createGeomData ()
rootJoint () const
rootFrame () const
nbJoints () const
size_type &i) const
size_type &r) const
size_type &r) const
name) const
name) const
name) const
configSize () const
numberDof () const
const configSpace () const
const RnxSOnConfigSpace () const
neutralConfiguration () const
void	JointLinearConstraint constraint)
const std::vector< jointConstraints () const
extraConfigSpace ()
const extraConfigSpace () const
virtual void	size_type &dimension)
void	GripperPtr_t &gripper)
grippers ()
const grippers () const
obstacles () const
nbObjects () const
size_type &i) const
bool	collisionTest (const bool stopAtFirstCollision=true)
void	computeDistances ()
const distanceResults () const
void	size_type &s)
numberDeviceData () const
virtual	~Device ()
cloneConst () const
self () const
const std::string &	name () const
void	modelPtr)
void	geomModelPtr)
void	visualModelPtr)
void	dataPtr)
void	createData ()
void	geomDataPtr)
void	createGeomData ()
rootJoint () const
rootFrame () const
nbJoints () const
size_type &i) const
size_type &r) const
size_type &r) const
name) const
name) const
name) const
configSize () const
numberDof () const
const configSpace () const
const RnxSOnConfigSpace () const
neutralConfiguration () const
void	JointLinearConstraint constraint)
const std::vector< jointConstraints () const
extraConfigSpace ()
const extraConfigSpace () const
virtual void	size_type &dimension)
void	GripperPtr_t &gripper)
grippers ()
const grippers () const
obstacles () const
nbObjects () const
size_type &i) const
bool	collisionTest (const bool stopAtFirstCollision=true)
void	computeDistances ()
const distanceResults () const
void	size_type &s)
numberDeviceData () const
Public Member Functions inherited from hpp::pinocchio::AbstractDevice
modelPtr () const
modelPtr ()
const model () const
model ()
geomModelPtr () const
geomModelPtr ()
const geomModel () const
geomModel ()
visualModelPtr () const
visualModelPtr ()
const visualModel () const
visualModel ()
dataPtr () const
dataPtr ()
const data () const
data ()
geomDataPtr () const
geomDataPtr ()
const geomData () const
geomData ()
const currentConfiguration () const
virtual bool	ConfigurationIn_t configuration)
const currentVelocity () const
bool	vectorIn_t velocity)
const currentAcceleration () const
bool	vectorIn_t acceleration)
const mass () const
const positionCenterOfMass () const
const jacobianCenterOfMass () const
Computation_t &)
computationFlag () const
void	computeForwardKinematics ()
void	computeForwardKinematics (int flag)
void	computeFramesForwardKinematics ()
void	updateGeometryPlacements ()
modelPtr () const
modelPtr ()
const model () const
model ()
geomModelPtr () const
geomModelPtr ()
const geomModel () const
geomModel ()
visualModelPtr () const
visualModelPtr ()
const visualModel () const
visualModel ()
dataPtr () const
dataPtr ()
const data () const
data ()
geomDataPtr () const
geomDataPtr ()
const geomData () const
geomData ()
const currentConfiguration () const
virtual bool	ConfigurationIn_t configuration)
const currentVelocity () const
bool	vectorIn_t velocity)
const currentAcceleration () const
bool	vectorIn_t acceleration)
const mass () const
const positionCenterOfMass () const
const jacobianCenterOfMass () const
Computation_t &)
computationFlag () const
void	computeForwardKinematics ()
void	computeForwardKinematics (int flag)
void	computeFramesForwardKinematics ()
void	updateGeometryPlacements ()

Static Public Member Functions
static DevicePtr_t	create (const std::string &name)
Static Public Member Functions inherited from hpp::pinocchio::HumanoidRobot
static name)
Static Public Member Functions inherited from hpp::pinocchio::Device
static name)
static DevicePtr_t &device)
static DeviceConstPtr_t &device)

Public Attributes
core::Container< HandlePtr_t >	handles
core::Container< GripperPtr_t >	grippers
core::Container< JointAndShapes_t >	jointAndShapes

Protected Member Functions
	Device (const std::string &name)
void	init (const DeviceWkPtr_t &self)
void	initCopy (const DeviceWkPtr_t &self, const Device &other)
	Device ()
	For serialization only.
	HPP_SERIALIZABLE ()
Protected Member Functions inherited from hpp::pinocchio::HumanoidRobot
	name)
	HumanoidRobot &other)
void	init (const HumanoidRobotWkPtr_t &weakPtr)
void	HumanoidRobot &other)
	HumanoidRobot ()
Protected Member Functions inherited from hpp::pinocchio::Device
	name)
void	init (const DeviceWkPtr_t &weakPtr)
void	Device &other)
	Device &device)
d ()
d () const
void	invalidate ()
	Device ()
Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()
	GeomModelPtr_t &vm)

Additional Inherited Members
Protected Attributes inherited from hpp::pinocchio::Device
d_
std::string	name_
grippers_
configSpace_
configSpaceRnxSOn_
extraConfigSpace_
std::vector< jointConstraints_
DeviceWkPtr_t	weakPtr_
Protected Attributes inherited from hpp::pinocchio::AbstractDevice
model_
geomModel_
visualModel_

Detailed Description

Device with handles.

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

This class also contains pinocchio::Gripper, Handle and JointAndShapes_t

Member Typedef Documentation

◆ Parent_t

typedef pinocchio::HumanoidRobot hpp::manipulation::Device::Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

hpp::manipulation::Device::Device ( const std::string & name )

protected

Constructor

Parameters

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

◆ Device() [2/2]

hpp::manipulation::Device::Device ( )

inlineprotected

For serialization only.

Member Function Documentation

◆ clone()

virtual pinocchio::DevicePtr_t hpp::manipulation::Device::clone ( ) const

virtual

Reimplemented from hpp::pinocchio::HumanoidRobot.

◆ create()

DevicePtr_t hpp::manipulation::Device::create ( const std::string & name )

static

Constructor

Parameters

name	of the new instance,

◆ HPP_SERIALIZABLE()

hpp::manipulation::Device::HPP_SERIALIZABLE ( )

protected

◆ init()

void hpp::manipulation::Device::init ( const DeviceWkPtr_t & self )

inlineprotected

◆ initCopy()

void hpp::manipulation::Device::initCopy	(	const DeviceWkPtr_t &	self,
		const Device &	other )

inlineprotected

◆ print()

virtual std::ostream & hpp::manipulation::Device::print ( std::ostream & os ) const

virtual

Print object in a stream.

Reimplemented from hpp::pinocchio::Device.

◆ removeJoints()

void hpp::manipulation::Device::removeJoints	(	const std::vector< std::string > &	jointNames,
		Configuration_t	referenceConfig )

virtual

Reimplemented from hpp::pinocchio::Device.

◆ robotFrames()

FrameIndices_t hpp::manipulation::Device::robotFrames ( const std::string & robotName ) const

◆ robotNames()

std::vector< std::string > hpp::manipulation::Device::robotNames ( ) const

◆ self()

DevicePtr_t hpp::manipulation::Device::self ( )

inline

◆ setRobotRootPosition()

void hpp::manipulation::Device::setRobotRootPosition	(	const std::string &	robotName,
		const Transform3s &	positionWRTParentJoint )

Member Data Documentation

◆ grippers

core::Container<GripperPtr_t> hpp::manipulation::Device::grippers

◆ handles

core::Container<HandlePtr_t> hpp::manipulation::Device::handles

◆ jointAndShapes

core::Container<JointAndShapes_t> hpp::manipulation::Device::jointAndShapes

The documentation for this class was generated from the following file:

include/hpp/manipulation/device.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Parent_t

Constructor & Destructor Documentation

◆ Device() [1/2]

◆ Device() [2/2]

Member Function Documentation

◆ clone()

◆ create()

◆ HPP_SERIALIZABLE()

◆ init()

◆ initCopy()

◆ print()

◆ removeJoints()

◆ robotFrames()

◆ robotNames()

◆ self()

◆ setRobotRootPosition()

Member Data Documentation

◆ grippers

◆ handles

◆ jointAndShapes