revolute_joint_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00039 
00040 #include <moveit/robot_model/joint_model.h>
00041 
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00046 
00048 class RevoluteJointModel : public JointModel
00049 {
00050 public:
00051   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00052   
00053   RevoluteJointModel(const std::string& name);
00054   virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
00055   virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
00056   virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
00057                                                 const double *near, const double distance) const;
00058   virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
00059   virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;
00060   
00061   virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
00062   virtual unsigned int getStateSpaceDimension() const;
00063   virtual double getMaximumExtent(const Bounds &other_bounds) const;
00064   virtual double distance(const double *values1, const double *values2) const;
00065   
00066   virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
00067   virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;
00068   
00069   void setContinuous(bool flag);
00070   
00072   bool isContinuous() const
00073   {
00074     return continuous_;
00075   }
00076   
00078   const Eigen::Vector3d& getAxis() const
00079   {
00080     return axis_;
00081   }
00082   
00084   void setAxis(const Eigen::Vector3d &axis);
00085   
00086 protected:
00087   
00089   Eigen::Vector3d axis_;
00090   
00092   bool continuous_;
00093   
00094 private:
00095   
00096   double x2_, y2_, z2_, xy_, xz_, yz_;  
00097   
00098 };
00099 
00100 }
00101 }
00102 
00103 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:53