hpp api 1

/***********************************************************************
hpp::pinocchio::AbstractDevice <-- hpp::pinocchio::Device
************************************************************************/
numberDof();        //
configSize();       //
nbJoints();         //number of (active) joints
currentConfiguration(); //return the current configuration
neutralConfiguration();

loadRobotModel (const DevicePtr_t& robot,
               const std::string& rootJointType,
               const std::string& package,
               const std::string& modelName,
               const std::string& urdfSuffix,
                           const std::string& srdfSuffix)
//urdf path: package://<package>/urdf/<modelName><urdfSuffix>.urdf 
//srdf path: package://<package>/srdf/<modelName><srdfSuffix>.srdf 

distanceType (const std::string& type);
steeringMethodType (const std::string& type);
pathPlannerType (const std::string& type);
configurationShooterType (const std::string& type);
addPathOptimizer (const std::string& type);
pathValidationType (const std::string& type,const value_type& tolerance);

lower(i);
lower();
upper(i);
upper();
dimension();
private: setDimension();

size_type dimension_;
vector_t lowerBounds_;
vector_t upperBounds_;
friend class Device;

typedef pinocchio::Configuration_t hpp::core::Configuration_t
typedef vector_t hpp::pinocchio::Configuration_t
typedef Eigen::Matrix<value_type, Eigen::Dynamic, 1> hpp::pinocchio::vector_t

typedef Eigen::Ref<const Configuration_t> hpp::pinocchio::ConfigurationIn_t
typedef Eigen::Ref<Configuration_t> hpp::pinocchio::ConfigurationOut_t

PathPtr_t path;
path->initial();        //return the first configuration
path->end();            //return the last configuration
typedef std::pair<value_type, value_type> hpp::core::interval_t
path->extract(const interval_t &subInterval);   //extract path in [t1,t2]
path->extract(t1,t2); 

typedef std::vector< PathVectorPtr_t > hpp::core::PathVectors_t
typedef boost::shared_ptr<PathVector> hpp::core::PathVectorPtr_t
at (const value_type &time, ConfigurationOut_t result) 

typedef ::pinocchio::SE3 hpp::pinocchio::Transform3f
typedef ::pinocchio::SE3 hpp::pinocchio::SE3