articulation_models: prismatic

00001 /*
00002  * prismatic_model.h
00003  *
00004  *  Created on: Oct 21, 2009
00005  *      Author: sturm
00006  */
00007 
00008 #ifndef PRISMATIC_MODEL_H_
00009 #define PRISMATIC_MODEL_H_
00010 
00011 #include "rigid_model.h"
00012 
00013 namespace articulation_models {
00014 
00015 class PrismaticModel: public RigidModel {
00016 public:
00017         btVector3 prismatic_dir;
00018 
00019         PrismaticModel();
00020 
00021         // -- params
00022         void readParamsFromModel();
00023         void writeParamsToModel();
00024 
00025         size_t getDOFs() { return 1; }
00026 
00027         V_Configuration predictConfiguration(geometry_msgs::Pose pose);
00028         geometry_msgs::Pose predictPose(V_Configuration q);
00029         M_CartesianJacobian predictHessian(V_Configuration q,double delta=1e-6);
00030 
00031         bool guessParameters();
00032         void updateParameters(std::vector<double> delta);
00033         bool normalizeParameters();
00034 };
00035 
00036 }
00037 
00038 #endif /* PRISMATIC_MODEL_H_ */