floating_joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_

#include <moveit/robot_model/joint_model.h>

namespace moveit
{
namespace core
{

class FloatingJointModel : public JointModel
{
public:

  FloatingJointModel(const std::string& name);

  virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
  virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
                                                const double *near, const double distance) const;
  virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
  virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;

  virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
  virtual unsigned int getStateSpaceDimension() const;
  virtual double getMaximumExtent(const Bounds &other_bounds) const;
  virtual double distance(const double *values1, const double *values2) const;

  virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
  virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;

  double getAngularDistanceWeight() const
  {
    return angular_distance_weight_;
  }

  void setAngularDistanceWeight(double weight)
  {
    angular_distance_weight_ = weight;
  }

  bool normalizeRotation(double *values) const;

  double distanceRotation(const double *values1, const double *values2) const;

  double distanceTranslation(const double *values1, const double *values2) const;

private:

  double angular_distance_weight_;
};
}
}

#endif