planar_joint_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_ROBOT_MODEL_PLANAR_JOINT_MODEL_
00038 #define MOVEIT_ROBOT_MODEL_PLANAR_JOINT_MODEL_
00039 
00040 #include <moveit/robot_model/joint_model.h>
00041 
00042 namespace robot_model
00043 {
00044 
00046 class PlanarJointModel : public JointModel
00047 {
00048   friend class RobotModel;
00049 public:
00050   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00051 
00052   PlanarJointModel(const std::string& name);
00053 
00054   virtual void getVariableDefaultValues(std::vector<double> &values, const Bounds &other_bounds) const;
00055   virtual void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds) const;
00056   virtual void getVariableRandomValuesNearBy(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds,
00057                                              const std::vector<double> &near, const double distance) const;
00058   virtual void enforceBounds(std::vector<double> &values, const Bounds &other_bounds) const;
00059   virtual bool satisfiesBounds(const std::vector<double> &values, const Bounds &other_bounds, double margin) const;
00060 
00061   virtual unsigned int getStateSpaceDimension() const;
00062   virtual double getMaximumExtent(const Bounds &other_bounds) const;
00063   virtual double distance(const std::vector<double> &values1, const std::vector<double> &values2) const;
00064   virtual void interpolate(const std::vector<double> &from, const std::vector<double> &to, const double t, std::vector<double> &state) const;
00065   virtual std::vector<moveit_msgs::JointLimits> getVariableLimits() const;
00066 
00067   virtual void computeTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;
00068   virtual void computeJointStateValues(const Eigen::Affine3d& transf, std::vector<double>& joint_values) const;
00069   virtual void updateTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;
00070 
00071   double getAngularDistanceWeight() const
00072   {
00073     return angular_distance_weight_;
00074   }
00075 
00076   void setAngularDistanceWeight(double weight)
00077   {
00078     angular_distance_weight_ = weight;
00079   }
00080 
00083   bool normalizeRotation(std::vector<double> &values) const;
00084 
00085 private:
00086 
00087   double angular_distance_weight_;
00088 };
00089 
00090 }
00091 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:47