floating_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 
41 namespace moveit
42 {
43 namespace core
44 {
46 class FloatingJointModel : public JointModel
47 {
48 public:
49  FloatingJointModel(const std::string& name);
50 
51  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
53  const Bounds& other_bounds) const override;
55  const Bounds& other_bounds, const double* near,
56  const double distance) const override;
57  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
58  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
59 
60  void interpolate(const double* from, const double* to, const double t, double* state) const override;
61  unsigned int getStateSpaceDimension() const override;
62  double getMaximumExtent(const Bounds& other_bounds) const override;
63  double distance(const double* values1, const double* values2) const override;
64 
65  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
66  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
67 
68  double getAngularDistanceWeight() const
69  {
71  }
72 
73  void setAngularDistanceWeight(double weight)
74  {
75  angular_distance_weight_ = weight;
76  }
77 
80  bool normalizeRotation(double* values) const;
81 
83  double distanceRotation(const double* values1, const double* values2) const;
84 
86  double distanceTranslation(const double* values1, const double* values2) const;
87 
88 private:
90 };
91 } // namespace core
92 } // namespace moveit
moveit::core::FloatingJointModel::distanceTranslation
double distanceTranslation(const double *values1, const double *values2) const
Get the distance between the translation components of two states.
Definition: floating_joint_model.cpp:178
moveit::core::FloatingJointModel::interpolate
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....
Definition: floating_joint_model.cpp:196
moveit::core::FloatingJointModel::distance
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)
Definition: floating_joint_model.cpp:173
moveit::core::FloatingJointModel::getVariableDefaultPositions
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...
Definition: floating_joint_model.cpp:310
moveit::core::FloatingJointModel::distanceRotation
double distanceRotation(const double *values1, const double *values2) const
Get the distance between the rotation components of two states.
Definition: floating_joint_model.cpp:186
moveit::core::JointModel::getMaximumExtent
double getMaximumExtent() const
Definition: joint_model.h:504
moveit::core::JointModel::Bounds
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:188
moveit::core::FloatingJointModel::FloatingJointModel
FloatingJointModel(const std::string &name)
Definition: floating_joint_model.cpp:121
moveit::core::FloatingJointModel::normalizeRotation
bool normalizeRotation(double *values) const
Definition: floating_joint_model.cpp:238
moveit::core::FloatingJointModel::angular_distance_weight_
double angular_distance_weight_
Definition: floating_joint_model.h:185
moveit::core::FloatingJointModel::setAngularDistanceWeight
void setAngularDistanceWeight(double weight)
Definition: floating_joint_model.h:169
moveit::core::FloatingJointModel::computeTransform
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform. The computed transform is gu...
Definition: floating_joint_model.cpp:290
moveit::core::FloatingJointModel::getStateSpaceDimension
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
Definition: floating_joint_model.cpp:266
moveit::core::FloatingJointModel::getVariableRandomPositionsNearBy
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 ...
Definition: floating_joint_model.cpp:354
random_numbers::RandomNumberGenerator
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
moveit::core::FloatingJointModel::enforcePositionBounds
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized,...
Definition: floating_joint_model.cpp:271
moveit::core::FloatingJointModel::computeVariablePositions
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values. Make sure the passed ...
Definition: floating_joint_model.cpp:297
joint_model.h
moveit::core::FloatingJointModel::satisfiesPositionBounds
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,...
Definition: floating_joint_model.cpp:226
moveit::core::FloatingJointModel::getVariableRandomPositions
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 ...
Definition: floating_joint_model.cpp:327
moveit::core::FloatingJointModel::getAngularDistanceWeight
double getAngularDistanceWeight() const
Definition: floating_joint_model.h:164


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:40