fixed_joint_model.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model/fixed_joint_model.h>

moveit::core::FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
{
  type_ = FIXED;
}

unsigned int moveit::core::FixedJointModel::getStateSpaceDimension() const
{
  return 0;
}

void moveit::core::FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
{
}

void moveit::core::FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng,
                                                               double* values, const Bounds& bounds) const
{
}

void moveit::core::FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng,
                                                                     double* values, const Bounds& bounds,
                                                                     const double* near, const double distance) const
{
}

bool moveit::core::FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
{
  return false;
}

bool moveit::core::FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds,
                                                            double margin) const
{
  return true;
}

double moveit::core::FixedJointModel::distance(const double* values1, const double* values2) const
{
  return 0.0;
}

double moveit::core::FixedJointModel::getMaximumExtent(const Bounds& other_bounds) const
{
  return 0.0;
}

void moveit::core::FixedJointModel::interpolate(const double* from, const double* to, const double t,
                                                double* state) const
{
}

void moveit::core::FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Affine3d& transf) const
{
  transf.setIdentity();
}

void moveit::core::FixedJointModel::computeVariablePositions(const Eigen::Affine3d& /* transform */,
                                                             double* /* joint_values */) const
{
}