From 83a355f0904499b23d2ac4da12b2a00ea10e7678 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 14 Jan 2020 23:16:18 +0100
Subject: [PATCH] Add end-effector-tracjectory plugin.
---
plugins/CMakeLists.txt | 5 ++++
plugins/end-effector-trajectory.cc | 45 ++++++++++++++++++++++++++++++
2 files changed, 50 insertions(+)
create mode 100644 plugins/end-effector-trajectory.cc
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
index 7a0c682..77bbad0 100644
--- a/plugins/CMakeLists.txt
+++ b/plugins/CMakeLists.txt
@@ -20,3 +20,8 @@ HPP_ADD_PLUGIN(manipulation-spline-gradient-based
SOURCES spline-gradient-based.cc
LINK_DEPENDENCIES ${PROJECT_NAME} ${PROJECT_NAME}-gpl hpp-core-gpl
PKG_CONFIG_DEPENDENCIES hpp-core)
+
+HPP_ADD_PLUGIN(end-effector-trajectory
+ SOURCES end-effector-trajectory.cc
+ LINK_DEPENDENCIES ${PROJECT_NAME}
+ PKG_CONFIG_DEPENDENCIES hpp-core)
diff --git a/plugins/end-effector-trajectory.cc b/plugins/end-effector-trajectory.cc
new file mode 100644
index 0000000..f2baee7
--- /dev/null
+++ b/plugins/end-effector-trajectory.cc
@@ -0,0 +1,45 @@
+// Copyright (c) 2019, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation 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-manipulation 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-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/plugin.hh>
+#include <hpp/core/problem-solver.hh>
+
+#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
+#include <hpp/manipulation/path-planner/end-effector-trajectory.hh>
+
+namespace hpp {
+ namespace manipulation {
+ class EndEffectorTrajectoryPlugin : public core::ProblemSolverPlugin
+ {
+ public:
+ EndEffectorTrajectoryPlugin ()
+ : ProblemSolverPlugin ("EndEffectorTrajectoryPlugin", "0.0")
+ {}
+
+ protected:
+ virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
+ {
+ ps->pathPlanners.add ("EndEffectorTrajectory",
+ pathPlanner::EndEffectorTrajectory::createWithRoadmap);
+ ps->steeringMethods.add ("EndEffectorTrajectory",
+ steeringMethod::EndEffectorTrajectory::create);
+ return true;
+ }
+ };
+ } // namespace manipulation
+} // namespace hpp
+
+HPP_CORE_DEFINE_PLUGIN(hpp::manipulation::EndEffectorTrajectoryPlugin)
--
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