prismatic_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 PrismaticJointModel : public JointModel
47 {
48 public:
50 
51  PrismaticJointModel(const std::string& name);
52 
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 
62  void interpolate(const double* from, const double* to, const double t, double* state) const override;
63  unsigned int getStateSpaceDimension() const override;
64  double getMaximumExtent(const Bounds& other_bounds) const override;
65  double distance(const double* values1, const double* values2) const override;
66 
67  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
68  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
69 
71  const Eigen::Vector3d& getAxis() const
72  {
73  return axis_;
74  }
75 
77  void setAxis(const Eigen::Vector3d& axis)
78  {
79  axis_ = axis;
80  }
81 
82 protected:
85 };
86 } // namespace core
87 } // namespace moveit
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:183
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:144
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:178
moveit::core::PrismaticJointModel::getStateSpaceDimension
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
Definition: prismatic_joint_model.cpp:120
moveit::core::PrismaticJointModel::getAxis
const Eigen::Vector3d & getAxis() const
Get the axis of translation.
Definition: prismatic_joint_model.h:167
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::PrismaticJointModel::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: prismatic_joint_model.cpp:210
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:130
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:150
random_numbers::RandomNumberGenerator
moveit::core::PrismaticJointModel::PrismaticJointModel
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PrismaticJointModel(const std::string &name)
Definition: prismatic_joint_model.cpp:108
moveit::core::PrismaticJointModel::axis_
Eigen::Vector3d axis_
The axis of the joint.
Definition: prismatic_joint_model.h:180
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
moveit::core::PrismaticJointModel::setAxis
void setAxis(const Eigen::Vector3d &axis)
Set the axis of translation.
Definition: prismatic_joint_model.h:173
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:173
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:139
joint_model.h
moveit::core::PrismaticJointModel::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: prismatic_joint_model.cpp:158
fcl::Vector3d
Vec3fX< details::Vec3Data< double > > Vector3d
Definition: fcl_compat.h:89


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