rigid_model.h
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00001 /*
00002  * rigid_model.h
00003  *
00004  *  Created on: Oct 21, 2009
00005  *      Author: sturm
00006  */
00007 
00008 #ifndef RIGID_MODEL_H_
00009 #define RIGID_MODEL_H_
00010 
00011 #include "generic_model.h"
00012 
00013 namespace articulation_models {
00014 
00015 class RigidModel: public GenericModel {
00016 public:
00017         tf::Vector3 rigid_position;
00018         tf::Quaternion rigid_orientation;
00019         double rigid_width,rigid_height;
00020 
00021         RigidModel();
00022 
00023         // -- params
00024         void readParamsFromModel();
00025         void writeParamsToModel();
00026 
00027         size_t getDOFs() { return 0; }
00028 
00029         geometry_msgs::Pose predictPose(V_Configuration q);
00030         void projectConfigurationToChannels();
00031 
00032         bool guessParameters();
00033         void updateParameters(std::vector<double> delta);
00034 };
00035 
00036 }
00037 
00038 #endif /* RIGID_MODEL_H_ */
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articulation_models
Author(s): Juergen Sturm
autogenerated on Wed Dec 26 2012 15:35:18