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46 class PlanarJointModel :
public JointModel
60 const Bounds& other_bounds)
const override;
62 const Bounds& other_bounds,
const double* seed,
63 const double distance)
const override;
67 void interpolate(
const double* from,
const double* to,
const double t,
double* state)
const override;
70 double distance(
const double* values1,
const double* values2)
const override;
72 void computeTransform(
const double* joint_values, Eigen::Isometry3d& transf)
const override;
129 double& dx,
double& dy,
double& initial_turn,
double& drive_angle,
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 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 ...
MotionModel motion_model_
void setAngularDistanceWeight(double weight)
void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *seed, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized,...
double min_translational_distance_
Only used for the differential drive motion model.
bool normalizeRotation(double *values) const
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
double angular_distance_weight_
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values. Make sure the passed ...
MotionModel getMotionModel() const
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)
double getMaximumExtent() const
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
PlanarJointModel(const std::string &name)
MotionModel
different types of planar joints we support
double getMinTranslationalDistance() const
void setMotionModel(MotionModel model)
double getAngularDistanceWeight() const
Main namespace for MoveIt.
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,...
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform. The computed transform is gu...
void setMinTranslationalDistance(double min_translational_distance)
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 computeTurnDriveTurnGeometry(const double *from, const double *to, const double min_translational_distance, double &dx, double &dy, double &initial_turn, double &drive_angle, double &final_turn)
Compute the geometry to turn toward the target point, drive straight and then turn to target orientat...
moveit_core
Author(s): Ioan Sucan
, Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 21 2024 03:23:41