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00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
00039
00040 #include <moveit/robot_model/joint_model.h>
00041
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00046
00048 class PrismaticJointModel : public JointModel
00049 {
00050 public:
00051 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00052
00053 PrismaticJointModel(const std::string& name);
00054
00055 virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
00056 virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
00057 virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
00058 const double *near, const double distance) const;
00059 virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
00060 virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;
00061
00062 virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
00063 virtual unsigned int getStateSpaceDimension() const;
00064 virtual double getMaximumExtent(const Bounds &other_bounds) const;
00065 virtual double distance(const double *values1, const double *values2) const;
00066
00067 virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
00068 virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;
00069
00071 const Eigen::Vector3d& getAxis() const
00072 {
00073 return axis_;
00074 }
00075
00077 void setAxis(const Eigen::Vector3d &axis)
00078 {
00079 axis_ = axis;
00080 }
00081
00082 protected:
00084 Eigen::Vector3d axis_;
00085 };
00086 }
00087 }
00088
00089 #endif