37 #ifndef MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_ 38 #define MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_ 54 const Bounds& other_bounds)
const override;
56 const Bounds& other_bounds,
const double* near,
57 const double distance)
const override;
61 void interpolate(
const double* from,
const double* to,
const double t,
double* state)
const override;
64 double distance(
const double* values1,
const double* values2)
const override;
66 void computeTransform(
const double* joint_values, Eigen::Isometry3d& transf)
const override;
double distance(const double *values1, const double *values2) const override
Compute the distance between two joint states of the same model (represented by the variable values) ...
PlanarJointModel(const std::string &name)
bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const override
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
std::vector< double > values
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform.
double getAngularDistanceWeight() const
void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
geometry_msgs::TransformStamped t
void interpolate(const double *from, const double *to, const double t, double *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const override
Provide a default value for the joint given the joint variable bounds. Most joints will use the defau...
void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
void setAngularDistanceWeight(double weight)
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values.
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Return true if changes were made.
double angular_distance_weight_
Main namespace for MoveIt!
double getMaximumExtent() const
bool normalizeRotation(double *values) const
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.