fixed_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
38 #define MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
39 
41 
42 namespace moveit
43 {
44 namespace core
45 {
48 {
49 public:
50  FixedJointModel(const std::string& name);
51 
52  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
54  const Bounds& other_bounds) const override;
56  const Bounds& other_bounds, const double* near,
57  const double distance) const override;
58  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
59  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
60 
61  void interpolate(const double* from, const double* to, const double t, double* state) const override;
62  unsigned int getStateSpaceDimension() const override;
63  double getMaximumExtent(const Bounds& other_bounds) const override;
64  double distance(const double* values1, const double* values2) const override;
65 
66  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
67  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
68 };
69 } // namespace core
70 } // namespace moveit
71 
72 #endif
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform.
std::vector< double > values
void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const override
Provide a default value for the joint given the joint variable bounds. Most joints will use the defau...
geometry_msgs::TransformStamped t
void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
Definition: joint_model.h:108
FixedJointModel(const std::string &name)
Main namespace for MoveIt!
double getMaximumExtent() const
Definition: joint_model.h:439
bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const override
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123
void interpolate(const double *from, const double *to, const double t, double *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
double distance(const double *values1, const double *values2) const override
Compute the distance between two joint states of the same model (represented by the variable values) ...
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Return true if changes were made.
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Sep 8 2020 04:12:45