From f6e6550a11cbc2813042c16cd179a69191c14000 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 29 Jul 2014 17:16:50 +0200
Subject: [PATCH] Separate declaration and definition of Robot
---
include/hpp/manipulation/robot.hh | 64 +++++++----------------------
src/robot.cc | 68 ++++++++++++++++++++++++++++---
2 files changed, 78 insertions(+), 54 deletions(-)
diff --git a/include/hpp/manipulation/robot.hh b/include/hpp/manipulation/robot.hh
index 3643b8fd..db114384 100644
--- a/include/hpp/manipulation/robot.hh
+++ b/include/hpp/manipulation/robot.hh
@@ -20,10 +20,11 @@
#ifndef HPP_MANIPULATION_ROBOT_HH
# define HPP_MANIPULATION_ROBOT_HH
-# include <hpp/manipulation/handle.hh>
-# include <hpp/manipulation/object.hh>
# include <hpp/model/device.hh>
+# include "hpp/manipulation/fwd.hh"
+# include "hpp/manipulation/config.hh"
+
namespace hpp {
namespace manipulation {
/// Robot holding one or several objects.
@@ -58,68 +59,33 @@ namespace hpp {
vectorIn_t fullVelocity);
/// Get robot manipulating objects
- const Devices_t& robots () const
- {
- return robots_;
- }
+ const Devices_t& robots () const;
+
/// Get objects manipulated by the robot
- const Objects_t& objects () const
- {
- return objects_;
- }
+ const Objects_t& objects () const;
+
/// Get joint of this corresponding to joint of original object or robot.
- const JointPtr_t& joint (const JointConstPtr_t& original)
- {
- return jointMap_ [original];
- }
+ const JointPtr_t& joint (const JointConstPtr_t& original);
/// \name Composite robot handles
/// \{
/// Add a handle
- void addHandle (const std::string& name, const HandlePtr_t& handle)
- {
- handles_ [name] = handle;
- }
+ void addHandle (const std::string& name, const HandlePtr_t& handle);
+
/// Return the handle named name
- const HandlePtr_t& handle (const std::string& name) const
- {
- Handles_t::const_iterator it = handles_.find (name);
- if (it == handles_.end ())
- throw std::runtime_error ("no handle with name " + name);
- return it->second;
- }
+ const HandlePtr_t& handle (const std::string& name) const;
/// \}
/// Add a gripper
- void addGripper (const std::string& name, const GripperPtr_t& gripper)
- {
- grippers_ [name] = gripper;
- }
+ void addGripper (const std::string& name, const GripperPtr_t& gripper);
+
/// Return the gripper named name
- const GripperPtr_t& gripper (const std::string& name) const
- {
- Grippers_t::const_iterator it = grippers_.find (name);
- if (it == grippers_.end ())
- throw std::runtime_error ("no gripper with name " + name);
- return it->second;
- }
+ const GripperPtr_t& gripper (const std::string& name) const;
/// Get Device names in the same order than the compositeRobot has been
/// build
- std::vector<std::string> getDeviceNames()
- {
- std::vector<std::string> deviceNames;
- for ( Devices_t::iterator itDevice = robots_.begin() ; itDevice !=
- robots_.end() ; itDevice++ ) {
- deviceNames.push_back((*itDevice)->name());
- }
- for ( Objects_t::iterator itObject = objects_.begin() ; itObject !=
- objects_.end() ; itObject++ ) {
- deviceNames.push_back((*itObject)->name());
- }
- return deviceNames;
- }
+ std::vector<std::string> getDeviceNames();
/// Print object in a stream
virtual std::ostream& print (std::ostream& os) const;
diff --git a/src/robot.cc b/src/robot.cc
index c42f304c..e06e9ff0 100644
--- a/src/robot.cc
+++ b/src/robot.cc
@@ -18,10 +18,13 @@
// <http://www.gnu.org/licenses/>.
#include <hpp/util/debug.hh>
-#include <hpp/manipulation/fwd.hh>
-#include <hpp/model/object-factory.hh>
-#include <hpp/manipulation/robot.hh>
#include <hpp/model/gripper.hh>
+#include <hpp/model/object-factory.hh>
+
+#include "hpp/manipulation/fwd.hh"
+#include "hpp/manipulation/handle.hh"
+#include "hpp/manipulation/object.hh"
+#include "hpp/manipulation/robot.hh"
namespace hpp {
namespace manipulation {
@@ -29,6 +32,61 @@ namespace hpp {
typedef std::map <std::string, GripperPtr_t> Grippers_t;
typedef std::vector<JointPtr_t> JointVector_t;
+ const Devices_t& Robot::robots () const
+ {
+ return robots_;
+ }
+
+ const Objects_t& Robot::objects () const
+ {
+ return objects_;
+ }
+
+ const JointPtr_t& Robot::joint (const JointConstPtr_t& original)
+ {
+ return jointMap_ [original];
+ }
+
+ void Robot::addHandle (const std::string& name, const HandlePtr_t& handle)
+ {
+ handles_ [name] = handle;
+ }
+
+ const HandlePtr_t& Robot::handle (const std::string& name) const
+ {
+ Handles_t::const_iterator it = handles_.find (name);
+ if (it == handles_.end ())
+ throw std::runtime_error ("no handle with name " + name);
+ return it->second;
+ }
+
+ void Robot::addGripper (const std::string& name, const GripperPtr_t& gripper)
+ {
+ grippers_ [name] = gripper;
+ }
+
+ const GripperPtr_t& Robot::gripper (const std::string& name) const
+ {
+ Grippers_t::const_iterator it = grippers_.find (name);
+ if (it == grippers_.end ())
+ throw std::runtime_error ("no gripper with name " + name);
+ return it->second;
+ }
+
+ std::vector<std::string> Robot::getDeviceNames()
+ {
+ std::vector<std::string> deviceNames;
+ for ( Devices_t::iterator itDevice = robots_.begin() ; itDevice !=
+ robots_.end() ; itDevice++ ) {
+ deviceNames.push_back((*itDevice)->name());
+ }
+ for ( Objects_t::iterator itObject = objects_.begin() ; itObject !=
+ objects_.end() ; itObject++ ) {
+ deviceNames.push_back((*itObject)->name());
+ }
+ return deviceNames;
+ }
+
void Robot::copyKinematicChain (const JointPtr_t& parentJoint,
const JointConstPtr_t& joint)
{
@@ -86,7 +144,7 @@ namespace hpp {
for (model::JointVector_t::const_iterator itJoint = joints.begin() ;
itJoint != joints.end() ; itJoint++ ) {
gripper->addDisabledCollision(jointMap_[*itJoint]);
- }
+ }
addGripper (gripper->name (), gripper);
}
}
@@ -200,7 +258,7 @@ namespace hpp {
"," << joint2->name() << ")");
hpp::model::Device::addCollisionPairs (joint1, joint2,
hpp::model::COLLISION);
- hpp::model::Device::addCollisionPairs (joint1, joint2,
+ hpp::model::Device::addCollisionPairs (joint1, joint2,
hpp::model::DISTANCE);
}
}
--
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