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