diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2ebdf434ebedb6a0cf552b56cadcf2da113cd634..bef800f3a4e3de201fb3a2169624210ecca1c501 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@ ADD_REQUIRED_DEPENDENCY(hpp-constraints >= 3.0.0)
SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/fwd.hh
- include/hpp/manipulation/grasp.hh
+ include/hpp/manipulation/gripper.hh
include/hpp/manipulation/axial-handle.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/object.hh
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 889eaee3198dbab79db857c3128b637434d0b469..b7de07c0c5a67067fbbc05e154f16fd808bd441f 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -51,7 +51,7 @@ namespace hpp {
/// \return the constraint of relative position between the handle and
/// the gripper. The rotation around x is not constrained.
virtual DifferentiableFunctionPtr_t createGrasp
- (const RobotPtr_t& robot, const GraspPtr_t& grasp) const;
+ (const GripperPtr_t& gripper) const;
virtual std::ostream& print (std::ostream& os) const;
protected:
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index d3f576f4a4b986b1cec2c8c7a526514c9e922dfd..71f291f07f5bcb85ea7f826e5673ee8830b8bd96 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -38,8 +38,8 @@ namespace hpp {
typedef boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
typedef core::DifferentiableFunction DifferentiableFunction;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
- HPP_PREDEF_CLASS (Grasp);
- typedef boost::shared_ptr <Grasp> GraspPtr_t;
+ HPP_PREDEF_CLASS (Gripper);
+ typedef boost::shared_ptr <Gripper> GripperPtr_t;
HPP_PREDEF_CLASS (Handle);
typedef boost::shared_ptr <Handle> HandlePtr_t;
HPP_PREDEF_CLASS (Object);
@@ -63,7 +63,7 @@ namespace hpp {
typedef model::vectorOut_t vectorOut_t;
typedef std::vector <DevicePtr_t> Devices_t;
- typedef std::vector <GraspPtr_t> Grasps_t;
+ typedef std::vector <GripperPtr_t> Grippers_t;
typedef std::vector <ObjectPtr_t> Objects_t;
typedef std::map <JointConstPtr_t, JointPtr_t> JointMap_t;
typedef core::ConstraintPtr_t ConstraintPtr_t;
diff --git a/include/hpp/manipulation/grasp.hh b/include/hpp/manipulation/gripper.hh
similarity index 65%
rename from include/hpp/manipulation/grasp.hh
rename to include/hpp/manipulation/gripper.hh
index 5df35bbc94199426e2fed9b800f09b9d37f13346..862b0223eaddb4b086f77cf00ff8c80340327544 100644
--- a/include/hpp/manipulation/grasp.hh
+++ b/include/hpp/manipulation/gripper.hh
@@ -17,62 +17,72 @@
// hpp-manipulation. If not, see
// <http://www.gnu.org/licenses/>.
-#ifndef HPP_MANIPULATION_GRASP_HH
-# define HPP_MANIPULATION_GRASP_HH
+#ifndef HPP_MANIPULATION_GRIPPER_HH
+# define HPP_MANIPULATION_GRIPPER_HH
# include <hpp/manipulation/handle.hh>
namespace hpp {
namespace manipulation {
/// Constraint between the position of a robot joint and of an object handle
- class HPP_MANIPULATION_DLLAPI Grasp
+ class HPP_MANIPULATION_DLLAPI Gripper
{
public:
/// Return a shared pointer to new instance
- /// \param joint joint of the robot that holds the handle,
- /// \param handle handle that is grasped,
+ /// \param joint joint of the robot that will hold handles,
/// \param handlePositionInJoint handle position in the the grasping
/// joint.
- static GraspPtr_t create (const JointPtr_t& joint,
- const HandlePtr_t& handle,
+ static GripperPtr_t create (const std::string& name, const JointPtr_t& joint,
const Transform3f& handlePositionInJoint)
{
- Grasp* ptr = new Grasp (joint, handle, handlePositionInJoint);
- return GraspPtr_t (ptr);
- }
- /// Get handle that is grasped
- const HandlePtr_t& handle () const
- {
- return handle_;
+ Gripper* ptr = new Gripper (name, joint, handlePositionInJoint);
+ return GripperPtr_t (ptr);
}
- /// Get joint that grasps
+
+ /// Get joint that Grippers
const JointPtr_t& joint () const
{
return joint_;
}
- /// Get handle position in the the grasping joint
+ /// Get handle position in the the Grippering joint
const Transform3f& handlePositionInJoint () const
{
return handlePositionInJoint_;
}
+ ///get name
+ const std::string& name () const
+ {
+ return name_;
+ }
+ /// Set name
+ void name (const std::string& n)
+ {
+ name_ = n;
+ }
+
+
+ DifferentiableFunctionPtr_t createGrasp(HandlePtr_t& handle)
+ {
+ return handle->createGrasp(GripperPtr_t(this));
+ }
+
protected:
/// Constructor
/// \param joint joint of the robot that holds the handle,
- /// \param handle handle that is grasped,
/// \param handlePositionInJoint handle position in the the grasping
/// joint.
- Grasp (const JointPtr_t& joint, const HandlePtr_t& handle,
+ Gripper (const std::string& name, const JointPtr_t& joint,
const Transform3f& handlePositionInJoint) :
- joint_ (joint), handle_ (handle),
+ joint_ (joint),
handlePositionInJoint_ (handlePositionInJoint)
{
}
private:
- /// Joint of the robot that holds the handle.
+ /// Joint of the robot that holds handles.
+ std::string name_;
JointPtr_t joint_;
- HandlePtr_t handle_;
Transform3f handlePositionInJoint_;
- }; // class Grasp
+ }; // class Gripper
} // namespace manipulation
} // namespace hpp
-#endif // HPP_MANIPULATION_GRASP_HH
+#endif // HPP_MANIPULATION_GRIPPER_HH
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 204832c50018fdf03ab4c9942de601aded7cd73d..4afd217fb6082c6e8a083f1e0c9d81f88ad6f916 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -84,8 +84,7 @@ namespace hpp {
}
/// Create constraint corresponding to a gripper grasping this object
- /// \param robot the robot that grasps the handle,
- /// \param grasp object containing the grasp information
+ /// \param gripper object containing the gripper information
/// \return the constraint of relative position between the handle and
/// the gripper.
/// \note the constraint may constrain less than 6 degrees of freedom
@@ -93,7 +92,7 @@ namespace hpp {
/// a handle symmetric with respect to its x-axis for instance, the
/// rotation around x is not constrained.
virtual DifferentiableFunctionPtr_t createGrasp
- (const RobotPtr_t& robot, const GraspPtr_t& grasp) const;
+ (const GripperPtr_t& gripper) const;
virtual std::ostream& print (std::ostream& os) const;
protected:
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index c5484fbe41ddefbd1246a21141af8d26601a059c..7f57d2fc8991a4d73ec9f09ca42c141253f0e0de 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -22,21 +22,21 @@
#include <hpp/model/joint.hh>
#include <hpp/constraints/relative-transformation.hh>
#include <hpp/manipulation/axial-handle.hh>
-#include <hpp/manipulation/grasp.hh>
+#include <hpp/manipulation/gripper.hh>
#include <hpp/manipulation/robot.hh>
namespace hpp {
namespace manipulation {
DifferentiableFunctionPtr_t AxialHandle::createGrasp
- (const RobotPtr_t& robot, const GraspPtr_t& grasp) const
+ (const GripperPtr_t& gripper) const
{
using boost::assign::list_of;
std::vector <bool> mask = list_of (true)(true)(true)(false)(true)(true);
return RelativeTransformation::create
- (robot, grasp->joint (), grasp->handle ()->joint (),
- inverse (grasp->handle ()->localPosition ()) *
- grasp->handlePositionInJoint (), mask);
+ (gripper->joint()->robot(), gripper->joint (), joint(),
+ inverse (localPosition()) *
+ gripper->handlePositionInJoint (), mask);
}
HandlePtr_t AxialHandle::clone () const
{
diff --git a/src/handle.cc b/src/handle.cc
index 793477e43a654aebc9a1bbdd2a7a050741e77c65..c66e2e73a244d35bf7c4da5263b9e6e3d4b3b336 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -22,21 +22,20 @@
#include <hpp/model/joint.hh>
#include <hpp/constraints/relative-transformation.hh>
#include <hpp/manipulation/handle.hh>
-#include <hpp/manipulation/grasp.hh>
+#include <hpp/manipulation/gripper.hh>
#include <hpp/manipulation/robot.hh>
namespace hpp {
namespace manipulation {
DifferentiableFunctionPtr_t Handle::createGrasp
- (const RobotPtr_t& robot, const GraspPtr_t& grasp) const
+ (const GripperPtr_t& gripper) const
{
using boost::assign::list_of;
std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(true);
return RelativeTransformation::create
- (robot, grasp->joint (), grasp->handle ()->joint (),
- inverse (grasp->handle ()->localPosition ()) *
- grasp->handlePositionInJoint (), mask);
+ (gripper->joint()->robot(), gripper->joint (), joint(), inverse (localPosition()) *
+ gripper->handlePositionInJoint (), mask);
}
HandlePtr_t Handle::clone () const
diff --git a/src/robot.cc b/src/robot.cc
index e7842850a18925535c14805bfc743dfb84c1736d..410d963e77605af5628dbdff17452fae471382a9 100644
--- a/src/robot.cc
+++ b/src/robot.cc
@@ -20,7 +20,7 @@
#include <hpp/util/debug.hh>
#include <hpp/model/object-factory.hh>
#include <hpp/manipulation/robot.hh>
-#include <hpp/manipulation/grasp.hh>
+#include <hpp/manipulation/gripper.hh>
namespace hpp {
namespace manipulation {