From f3e120d93142b99fea92b42e9708e13887922e97 Mon Sep 17 00:00:00 2001
From: Mathieu Geisert <mgeisert@laas.fr>
Date: Thu, 12 Jun 2014 16:00:29 +0200
Subject: [PATCH] not finish : add gripper to model
---
CMakeLists.txt | 1 -
include/hpp/manipulation/fwd.hh | 3 +-
include/hpp/manipulation/gripper.hh | 89 -----------------------------
include/hpp/manipulation/handle.hh | 7 +++
src/axial-handle.cc | 2 +-
src/handle.cc | 2 +-
src/robot.cc | 2 +-
7 files changed, 11 insertions(+), 95 deletions(-)
delete mode 100644 include/hpp/manipulation/gripper.hh
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bef800f..bca6860 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,6 @@ ADD_REQUIRED_DEPENDENCY(hpp-constraints >= 3.0.0)
SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/fwd.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/fwd.hh b/include/hpp/manipulation/fwd.hh
index ea5034b..f67f1f9 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -34,12 +34,11 @@ namespace hpp {
typedef model::Configuration_t Configuration_t;
typedef model::ConfigurationIn_t ConfigurationIn_t;
typedef model::ConfigurationOut_t ConfigurationOut_t;
+ typedef model::GripperPtr_t GripperPtr_t;
HPP_PREDEF_CLASS (AxialHandle);
typedef boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
typedef core::DifferentiableFunction DifferentiableFunction;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_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);
diff --git a/include/hpp/manipulation/gripper.hh b/include/hpp/manipulation/gripper.hh
deleted file mode 100644
index f012c23..0000000
--- a/include/hpp/manipulation/gripper.hh
+++ /dev/null
@@ -1,89 +0,0 @@
-///
-/// Copyright (c) 2014 CNRS
-/// Authors: Florent Lamiraux
-///
-///
-// 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/>.
-
-#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 Gripper
- {
- public:
- /// Return a shared pointer to new instance
- /// \param joint joint of the robot that will hold handles,
- /// \param handlePositionInJoint handle position in the the grasping
- /// joint.
- static GripperPtr_t create (const std::string& name, const JointPtr_t& joint,
- const Transform3f& handlePositionInJoint)
- {
- Gripper* ptr = new Gripper (name, joint, handlePositionInJoint);
- return GripperPtr_t (ptr);
- }
-
- /// Get joint that Grippers
- const JointPtr_t& joint () const
- {
- return 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 handlePositionInJoint handle position in the the grasping
- /// joint.
- Gripper (const std::string& name, const JointPtr_t& joint,
- const Transform3f& handlePositionInJoint) :
- name_ (name),
- joint_ (joint),
- handlePositionInJoint_ (handlePositionInJoint)
- {
- }
- private:
- /// Joint of the robot that holds handles.
- std::string name_;
- JointPtr_t joint_;
- Transform3f handlePositionInJoint_;
- }; // class Gripper
- } // namespace manipulation
-} // namespace hpp
-#endif // HPP_MANIPULATION_GRIPPER_HH
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 4afd217..bbe58d2 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -93,6 +93,13 @@ namespace hpp {
/// rotation around x is not constrained.
virtual DifferentiableFunctionPtr_t createGrasp
(const GripperPtr_t& gripper) const;
+
+ static DifferentiableFunctionPtr_t createGrasp
+ (const GripperPtr_t& gripper,const HandlePtr_t& handle)
+ {
+ return handle->createGrasp(gripper);
+ }
+
virtual std::ostream& print (std::ostream& os) const;
protected:
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 7f57d2f..07fd255 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -20,9 +20,9 @@
#include <boost/assign/list_of.hpp>
#include <fcl/math/transform.h>
#include <hpp/model/joint.hh>
+#include <hpp/model/gripper.hh>
#include <hpp/constraints/relative-transformation.hh>
#include <hpp/manipulation/axial-handle.hh>
-#include <hpp/manipulation/gripper.hh>
#include <hpp/manipulation/robot.hh>
namespace hpp {
diff --git a/src/handle.cc b/src/handle.cc
index c66e2e7..af6da09 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -22,7 +22,7 @@
#include <hpp/model/joint.hh>
#include <hpp/constraints/relative-transformation.hh>
#include <hpp/manipulation/handle.hh>
-#include <hpp/manipulation/gripper.hh>
+#include <hpp/model/gripper.hh>
#include <hpp/manipulation/robot.hh>
namespace hpp {
diff --git a/src/robot.cc b/src/robot.cc
index 410d963..15bff21 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/gripper.hh>
+#include <hpp/model/gripper.hh>
namespace hpp {
namespace manipulation {
--
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