revolute_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
38 #define MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
39 
41 
42 namespace moveit
43 {
44 namespace core
45 {
48 {
49 public:
51 
52  RevoluteJointModel(const std::string& name);
53  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
55  const Bounds& other_bounds) const override;
57  const Bounds& other_bounds, const double* near,
58  const double distance) const override;
59  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
60  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
61  bool harmonizePosition(double* values, const Bounds& other_bounds) const override;
62 
63  void interpolate(const double* from, const double* to, const double t, double* state) const override;
64  unsigned int getStateSpaceDimension() const override;
65  double getMaximumExtent(const Bounds& other_bounds) const override;
66  double distance(const double* values1, const double* values2) const override;
67 
68  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
69  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
70 
71  void setContinuous(bool flag);
72 
74  bool isContinuous() const
75  {
76  return continuous_;
77  }
78 
80  const Eigen::Vector3d& getAxis() const
81  {
82  return axis_;
83  }
84 
86  void setAxis(const Eigen::Vector3d& axis);
87 
88 protected:
91 
94 
95 private:
96  double x2_, y2_, z2_, xy_, xz_, yz_;
97 };
98 } // namespace core
99 } // namespace moveit
100 
101 #endif
Vec3fX< details::Vec3Data< double > > Vector3d
Definition: fcl_compat.h:90
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.
std::vector< double > values
bool continuous_
Flag indicating whether this joint wraps around.
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform.
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
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) ...
const Eigen::Vector3d & getAxis() const
Get the axis of rotation.
geometry_msgs::TransformStamped t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RevoluteJointModel(const std::string &name)
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...
bool isContinuous() const
Check if this joint wraps around.
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint 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...
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
void setAxis(const Eigen::Vector3d &axis)
Set the axis of rotation.
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
Definition: joint_model.h:108
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 ...
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 ...
bool harmonizePosition(double *values, const Bounds &other_bounds) const override
Main namespace for MoveIt!
double getMaximumExtent() const
Definition: joint_model.h:439
Eigen::Vector3d axis_
The axis of the joint.
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123


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