prismatic_joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_

#include <moveit/robot_model/joint_model.h>

namespace moveit
{
namespace core
{
class PrismaticJointModel : public JointModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  PrismaticJointModel(const std::string& name);

  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                  const Bounds& other_bounds) const override;
  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                        const Bounds& other_bounds, const double* near,
                                        const double distance) const override;
  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;

  void interpolate(const double* from, const double* to, const double t, double* state) const override;
  unsigned int getStateSpaceDimension() const override;
  double getMaximumExtent(const Bounds& other_bounds) const override;
  double distance(const double* values1, const double* values2) const override;

  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;

  const Eigen::Vector3d& getAxis() const
  {
    return axis_;
  }

  void setAxis(const Eigen::Vector3d& axis)
  {
    axis_ = axis;
  }

protected:
  Eigen::Vector3d axis_;
};
}  // namespace core
}  // namespace moveit

#endif