robot_model::RevoluteJointModel Class Reference

A revolute joint. More...

`#include <revolute_joint_model.h>`

Inheritance diagram for robot_model::RevoluteJointModel: [legend]

List of all members.

## Public Member Functions

virtual void computeDefaultVariableLimits ()
virtual void computeJointStateValues (const Eigen::Affine3d &transf, std::vector< double > &joint_values) const
Given the transform generated by joint, compute the corresponding joint values.
virtual void computeTransform (const std::vector< double > &joint_values, Eigen::Affine3d &transf) const
Given the joint values for a joint, compute the corresponding transform.
virtual double distance (const std::vector< double > &values1, const std::vector< double > &values2) const
Compute the distance between two joint states of the same model (represented by the variable values)
virtual void enforceBounds (std::vector< double > &values, const Bounds &other_bounds) const
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi.
const Eigen::Vector3d & getAxis () const
Get the axis of rotation.
virtual double getMaximumExtent (const Bounds &other_bounds) const
Get the extent of the state space (the maximum value distance() can ever report)
virtual unsigned int getStateSpaceDimension () const
Get the dimension of the state space that corresponds to this joint.
virtual void getVariableDefaultValues (std::vector< double > &values, const Bounds &other_bounds) const
Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. The vector is NOT cleared; elements are only added with push_back.
virtual void getVariableRandomValues (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const Bounds &other_bounds) const
Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.
virtual void getVariableRandomValuesNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const Bounds &other_bounds, const std::vector< double > &near, const double distance) const
Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.
virtual void interpolate (const std::vector< double > &from, const std::vector< double > &to, const double t, std::vector< double > &state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
bool isContinuous () const
Check if this joint wraps around.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RevoluteJointModel (const std::string &name)
virtual bool satisfiesBounds (const std::vector< double > &values, const Bounds &other_bounds, double margin) const
Check if the set of values for the variables of this joint are within bounds, up to some margin.
virtual void updateTransform (const std::vector< double > &joint_values, Eigen::Affine3d &transf) const
Update a transform so that it corresponds to the new joint values assuming that transf was previously set to identity and that only calls to updateTransform() were issued afterwards.

## Protected Attributes

Eigen::Vector3d axis_
The axis of the joint.
bool continuous_
Flag indicating whether this joint wraps around.

class RobotModel

## Detailed Description

A revolute joint.

Definition at line 46 of file revolute_joint_model.h.

## Constructor & Destructor Documentation

 robot_model::RevoluteJointModel::RevoluteJointModel ( const std::string & name )

Definition at line 42 of file revolute_joint_model.cpp.

## Member Function Documentation

 void robot_model::RevoluteJointModel::computeDefaultVariableLimits ( ) ` [virtual]`

Reimplemented from robot_model::JointModel.

Definition at line 159 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::computeJointStateValues ( const Eigen::Affine3d & transform, std::vector< double > & joint_values ) const` [virtual]`

Given the transform generated by joint, compute the corresponding joint values.

Implements robot_model::JointModel.

Definition at line 176 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::computeTransform ( const std::vector< double > & joint_values, Eigen::Affine3d & transf ) const` [virtual]`

Given the joint values for a joint, compute the corresponding transform.

Implements robot_model::JointModel.

Definition at line 166 of file revolute_joint_model.cpp.

 double robot_model::RevoluteJointModel::distance ( const std::vector< double > & values1, const std::vector< double > & values2 ) const` [virtual]`

Compute the distance between two joint states of the same model (represented by the variable values)

Implements robot_model::JointModel.

Definition at line 113 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::enforceBounds ( std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi.

Implements robot_model::JointModel.

Definition at line 136 of file revolute_joint_model.cpp.

 const Eigen::Vector3d& robot_model::RevoluteJointModel::getAxis ( ) const` [inline]`

Get the axis of rotation.

Definition at line 77 of file revolute_joint_model.h.

 double robot_model::RevoluteJointModel::getMaximumExtent ( const Bounds & other_bounds ) const` [virtual]`

Get the extent of the state space (the maximum value distance() can ever report)

Implements robot_model::JointModel.

Definition at line 55 of file revolute_joint_model.cpp.

 unsigned int robot_model::RevoluteJointModel::getStateSpaceDimension ( ) const` [virtual]`

Get the dimension of the state space that corresponds to this joint.

Implements robot_model::JointModel.

Definition at line 50 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::getVariableDefaultValues ( std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 60 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::getVariableRandomValues ( random_numbers::RandomNumberGenerator & rng, std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 69 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::getVariableRandomValuesNearBy ( random_numbers::RandomNumberGenerator & rng, std::vector< double > & values, const Bounds & other_bounds, const std::vector< double > & near, const double distance ) const` [virtual]`

Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 74 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::interpolate ( const std::vector< double > & from, const std::vector< double > & to, const double t, std::vector< double > & state ) const` [virtual]`

Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

Implements robot_model::JointModel.

Definition at line 87 of file revolute_joint_model.cpp.

 bool robot_model::RevoluteJointModel::isContinuous ( ) const` [inline]`

Check if this joint wraps around.

Definition at line 71 of file revolute_joint_model.h.

 bool robot_model::RevoluteJointModel::satisfiesBounds ( const std::vector< double > & values, const Bounds & other_bounds, double margin ) const` [virtual]`

Check if the set of values for the variables of this joint are within bounds, up to some margin.

Implements robot_model::JointModel.

Definition at line 126 of file revolute_joint_model.cpp.

 void robot_model::RevoluteJointModel::updateTransform ( const std::vector< double > & joint_values, Eigen::Affine3d & transf ) const` [virtual]`

Update a transform so that it corresponds to the new joint values assuming that transf was previously set to identity and that only calls to updateTransform() were issued afterwards.

Implements robot_model::JointModel.

Definition at line 171 of file revolute_joint_model.cpp.

## Friends And Related Function Documentation

 friend class RobotModel` [friend]`

Reimplemented from robot_model::JointModel.

Definition at line 48 of file revolute_joint_model.h.

## Member Data Documentation

 Eigen::Vector3d robot_model::RevoluteJointModel::axis_` [protected]`

The axis of the joint.

Definition at line 84 of file revolute_joint_model.h.

 bool robot_model::RevoluteJointModel::continuous_` [protected]`

Flag indicating whether this joint wraps around.

Definition at line 87 of file revolute_joint_model.h.

The documentation for this class was generated from the following files:

moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:48