Struct Robot

• Defined in File robot.hpp

Nested Relationships

Nested Types

• Struct Robot::Variable

Struct Documentation

struct Robot

Public Functions

void set_random_valid_configuration(std::vector<double> &config) const

Sets a variable vector to a random configuration.

Here, “valid” denotes that the joint values are with their specified limits.

bool is_valid_configuration(std::vector<double> const &config) const

Check is a configuration is valid.

Public Members

std::vector<Variable> variables

Public Static Functions

static Robot from(std::shared_ptr<moveit::core::RobotModel const> const &model, moveit::core::JointModelGroup const *jmg, std::vector<size_t> tip_link_indices)

Create new Robot from a RobotModel.

struct Variable

Public Functions

double generate_valid_value(double init_val = 0.0) const

Generates a valid variable value given an optional initial value (for unbounded joints).

bool is_valid(double val) const

Returns true if a value is valid given the variable bounds.

double clamp_to_limits(double val) const

Clamps a configuration to joint limits.

Public Members

double min

Min, max, and middle position values of the variable.

double max

double mid

bool bounded

Whether the variable’s position is bounded.

double half_span

The half-span (min - max) / 2.0 of the variable, or a default value if unbounded.

double max_velocity_rcp

double minimal_displacement_factor