articulation_models: rotational

00001 /*
00002  * rotational_model.h
00003  *
00004  *  Created on: Oct 22, 2009
00005  *      Author: sturm
00006  */
00007 
00008 #ifndef ROTATIONAL_MODEL_H_
00009 #define ROTATIONAL_MODEL_H_
00010 
00011 #include "rigid_model.h"
00012 #include "sensor_msgs/PointCloud2.h"
00013 #include "LinearMath/btTransform.h"
00014 
00015 namespace articulation_models {
00016 
00017 class RotationalModel: public GenericModel {
00018 public:
00019         double rot_mode;
00020         btVector3 rot_center;
00021         btQuaternion rot_axis;
00022 
00023         double rot_radius;
00024         btQuaternion rot_orientation;
00025 
00026         RotationalModel();
00027         // -- params
00028         void readParamsFromModel();
00029         void writeParamsToModel();
00030 
00031         size_t getDOFs() { return 1; }
00032 
00033         V_Configuration predictConfiguration(geometry_msgs::Pose pose);
00034         geometry_msgs::Pose predictPose(V_Configuration q);
00035 
00036         bool guessParameters();
00037         void updateParameters(std::vector<double> delta);
00038         bool normalizeParameters();
00039 
00040 };
00041 
00042 }
00043 
00044 
00045 #endif /* ROTATIONAL_MODEL_H_ */