fixed_joint_model.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
39 namespace moveit
40 {
41 namespace core
42 {
43 FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
44 {
45  type_ = FIXED;
46 }
47 
48 unsigned int FixedJointModel::getStateSpaceDimension() const
49 {
50  return 0;
51 }
52 
53 void FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
54 {
55 }
56 
57 void FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
58  const Bounds& bounds) const
59 {
60 }
61 
62 void FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
63  const Bounds& bounds, const double* near,
64  const double distance) const
65 {
66 }
67 
68 bool FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
69 {
70  return false;
71 }
72 
73 bool FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const
74 {
75  return true;
76 }
77 
78 double FixedJointModel::distance(const double* values1, const double* values2) const
79 {
80  return 0.0;
81 }
82 
83 double FixedJointModel::getMaximumExtent(const Bounds& other_bounds) const
84 {
85  return 0.0;
86 }
87 
88 void FixedJointModel::interpolate(const double* from, const double* to, const double t, double* state) const
89 {
90 }
91 
92 void FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Isometry3d& transf) const
93 {
94  transf.setIdentity();
95 }
96 
97 void FixedJointModel::computeVariablePositions(const Eigen::Isometry3d& /* transform */,
98  double* /* joint_values */) const
99 {
100 }
101 
102 } // end of namespace core
103 } // end of namespace moveit
fixed_joint_model.h
name
std::string name
random_numbers::RandomNumberGenerator
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
moveit::core::FixedJointModel::FixedJointModel
FixedJointModel(const std::string &name)
Definition: fixed_joint_model.cpp:107
pr2_arm_kinematics::distance
double distance(const urdf::Pose &transform)
Definition: pr2_arm_ik.h:86


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 12 2020 03:25:44