handle.hh

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#ifndef HPP_MANIPULATION_HANDLE_HH
#define HPP_MANIPULATION_HANDLE_HH

#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <pinocchio/spatial/se3.hpp>

namespace hpp {
namespace manipulation {
typedef ImplicitPtr_t;
class HPP_MANIPULATION_DLLAPI Handle {
 public:
 static std::string className;
 virtual ~Handle() {};

 static HandlePtr_t create(const std::string& name, const Transform3s& pose,
 const DeviceWkPtr_t& robot,
 const JointPtr_t& joint) {
 Handle* ptr = new Handle(name, pose, robot, joint);
 HandlePtr_t shPtr(ptr);
 ptr->init(shPtr);
 return shPtr;
 }

 virtual HandlePtr_t clone() const;


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


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

 DevicePtr_t robot() const { return robot_.lock(); }

 const Transform3s& localPosition() const { return localPosition_; }

 void localPosition(const Transform3s& localPosition) {
 localPosition_ = localPosition;
 }

 void mask(const std::vector<bool>& mask);

 const std::vector<bool>& mask() const { return mask_; }

 void maskComp(const std::vector<bool>& mask);

 const std::vector<bool>& maskComp() const { return maskComp_; }

 virtual ImplicitPtr_t createGrasp(const GripperPtr_t& gripper,
 std::string name) const;

 virtual ImplicitPtr_t createGraspComplement(const GripperPtr_t& gripper,
 std::string name) const;

 virtual ImplicitPtr_t createGraspAndComplement(const GripperPtr_t& gripper,
 std::string name) const;

 virtual ImplicitPtr_t createPreGrasp(const GripperPtr_t& gripper,
 const value_type& shift,
 std::string name) const;

 value_type clearance() const { return clearance_; }

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

 const vector3_t& approachingDirection() const {
 return approachingDirection_;
 }

 void approachingDirection(const vector3_t& dir) {
 approachingDirection_ = dir;
 }

 protected:
 Handle(const std::string& name, const Transform3s& pose,
 const DeviceWkPtr_t& robot, const JointPtr_t& joint)
 : name_(name),
 localPosition_(pose),
 joint_(joint),
 robot_(robot),
 clearance_(0),
 mask_(6, true),
 maskComp_(6, false),
 weakPtr_(),
 approachingDirection_(1, 0, 0) {}
 void init(HandleWkPtr_t weakPtr) { weakPtr_ = weakPtr; }

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

 private:
 std::string name_;
 Transform3s localPosition_;
 JointPtr_t joint_;
 DeviceWkPtr_t robot_;
 value_type clearance_;
 std::vector<bool> mask_;
 std::vector<bool> maskComp_;
 HandleWkPtr_t weakPtr_;
 vector3_t approachingDirection_;
 friend std::ostream& operator<<(std::ostream&, const Handle&);
}; // class Handle

std::ostream& operator<<(std::ostream& os, const Handle& handle);
} // namespace manipulation
} // namespace hpp

#endif // HPP_MANIPULATION_HANDLE_HH