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Commit be1df5fa authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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Update Handle

parent 905e4092
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...@@ -20,14 +20,13 @@ ...@@ -20,14 +20,13 @@
#ifndef HPP_MANIPULATION_HANDLE_HH #ifndef HPP_MANIPULATION_HANDLE_HH
# define HPP_MANIPULATION_HANDLE_HH # define HPP_MANIPULATION_HANDLE_HH
# include <hpp/fcl/math/transform.h>
# include <hpp/manipulation/config.hh>
# include <hpp/manipulation/fwd.hh> # include <hpp/manipulation/fwd.hh>
# include <hpp/manipulation/config.hh>
namespace hpp { namespace hpp {
namespace manipulation { namespace manipulation {
/// Part of an object that is aimed at being grasped /// Part of an object that is aimed at being grasped
class Handle class HPP_MANIPULATION_DLLAPI Handle
{ {
public: public:
/// Create constraint corresponding to a gripper grasping this object /// Create constraint corresponding to a gripper grasping this object
......
...@@ -19,15 +19,15 @@ ...@@ -19,15 +19,15 @@
#include <hpp/manipulation/handle.hh> #include <hpp/manipulation/handle.hh>
#include <hpp/util/debug.hh>
#include <hpp/model/device.hh>
#include <boost/assign/list_of.hpp> #include <boost/assign/list_of.hpp>
#include <hpp/fcl/math/transform.h> #include <pinocchio/multibody/joint/joint-free-flyer.hpp>
#include <hpp/util/debug.hh>
#include <hpp/model/joint.hh> #include <hpp/pinocchio/device.hh>
#include <hpp/model/gripper.hh> #include <hpp/pinocchio/joint.hh>
#include <hpp/pinocchio/gripper.hh>
#include <hpp/constraints/generic-transformation.hh> #include <hpp/constraints/generic-transformation.hh>
...@@ -58,9 +58,8 @@ namespace hpp { ...@@ -58,9 +58,8 @@ namespace hpp {
bool isHandleOnR3SO3 (const Handle& handle) bool isHandleOnR3SO3 (const Handle& handle)
{ {
if ((dynamic_cast <model::JointSO3*> (handle.joint ())) && if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname()
(dynamic_cast <model::JointTranslation <3>* > && handle.joint ()->parentJoint ()) {
(handle.joint ()->parentJoint ()))) {
return true; return true;
} }
return false; return false;
......
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