From 32c79c1de2e24b28f6244ae89209c2b28326b134 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 13 Feb 2016 09:23:46 +0100
Subject: [PATCH] Handle::createGraspComplement return a zero function
---
src/handle.cc | 36 +++++++++++++++++++++++-------------
1 file changed, 23 insertions(+), 13 deletions(-)
diff --git a/src/handle.cc b/src/handle.cc
index 0bc20ccb..f68a5d0c 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -17,10 +17,10 @@
// hpp-manipulation. If not, see
// <http://www.gnu.org/licenses/>.
+#include <hpp/manipulation/handle.hh>
+
#include <hpp/util/debug.hh>
#include <hpp/model/device.hh>
-#include <hpp/core/explicit-numerical-constraint.hh>
-#include <hpp/manipulation/handle.hh>
#include <boost/assign/list_of.hpp>
@@ -33,10 +33,24 @@
#include <hpp/constraints/relative-transformation.hh>
#include <hpp/core/numerical-constraint.hh>
+#include <hpp/core/explicit-numerical-constraint.hh>
#include <hpp/core/explicit-relative-transformation.hh>
namespace hpp {
namespace manipulation {
+ namespace {
+ struct ZeroDiffFunc : public constraints::DifferentiableFunction {
+ ZeroDiffFunc (size_type sIn, size_type sInD,
+ std::string name=std::string("Empty function"))
+ : DifferentiableFunction (sIn, sInD, 0, 0, name)
+ {
+ context ("Grasp complement");
+ }
+
+ inline void impl_compute (vectorOut_t, vectorIn_t) const {}
+ inline void impl_jacobian (matrixOut_t, vectorIn_t) const {}
+ };
+ }
using core::ExplicitNumericalConstraint;
using constraints::DifferentiableFunction;
@@ -79,17 +93,13 @@ namespace hpp {
NumericalConstraintPtr_t Handle::createGraspComplement
(const GripperPtr_t& gripper) const
{
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (false)(false)(false)(false)(false)
- (false);
- return NumericalConstraintPtr_t
- (NumericalConstraint::create (RelativeTransformation::create
- ("Transformation_(0,0,0,0,0,0)_" + name ()
- + "_" + gripper->name (),
- gripper->joint()->robot(),
- gripper->joint (), joint (),
- gripper->objectPositionInJoint (),
- localPosition(), mask)));
+ core::DevicePtr_t robot = gripper->joint()->robot();
+ return NumericalConstraint::create (
+ boost::shared_ptr <ZeroDiffFunc> (new ZeroDiffFunc (
+ robot->configSize(), robot->numberDof (),
+ "Transformation_(0,0,0,0,0,0)_" + name () + "_" + gripper->name ()
+ ))
+ );
}
NumericalConstraintPtr_t Handle::createPreGrasp
--
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