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00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
00039
00040 #include <moveit/robot_model/joint_model.h>
00041
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00046
00048 class FixedJointModel : public JointModel
00049 {
00050 public:
00051 FixedJointModel(const std::string &name);
00052
00053 virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
00054 virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
00055 virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
00056 const double *near, const double distance) const;
00057 virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
00058 virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;
00059
00060 virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
00061 virtual unsigned int getStateSpaceDimension() const;
00062 virtual double getMaximumExtent(const Bounds &other_bounds) const;
00063 virtual double distance(const double *values1, const double *values2) const;
00064
00065 virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
00066 virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;
00067
00068 };
00069 }
00070 }
00071
00072 #endif