floating_joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_MODEL_FLOATING_JOINT_MODEL_
#define MOVEIT_ROBOT_MODEL_FLOATING_JOINT_MODEL_

#include <moveit/robot_model/joint_model.h>

namespace robot_model
{

class FloatingJointModel : public JointModel
{
  friend class RobotModel;
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  FloatingJointModel(const std::string& name);
  virtual void getVariableDefaultValues(std::vector<double> &values, const Bounds &other_bounds) const;
  virtual void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds) const;
  virtual void getVariableRandomValuesNearBy(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds,
                                             const std::vector<double> &near, const double distance) const;
  virtual void enforceBounds(std::vector<double> &values, const Bounds &other_bounds) const;
  virtual bool satisfiesBounds(const std::vector<double> &values, const Bounds &other_bounds, double margin) const;

  virtual double getMaximumExtent(const Bounds &other_bounds) const;
  virtual double distance(const std::vector<double> &values1, const std::vector<double> &values2) const;
  virtual void interpolate(const std::vector<double> &from, const std::vector<double> &to, const double t, std::vector<double> &state) const;
  virtual unsigned int getStateSpaceDimension() const;
  virtual void computeTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;
  virtual void computeJointStateValues(const Eigen::Affine3d& transf, std::vector<double>& joint_values) const;
  virtual void updateTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;

  double getAngularDistanceWeight() const
  {
    return angular_distance_weight_;
  }

  void setAngularDistanceWeight(double weight)
  {
    angular_distance_weight_ = weight;
  }

  bool normalizeRotation(std::vector<double> &values) const;

  double distanceRotation(const std::vector<double> &values1, const std::vector<double> &values2) const;

  double distanceTranslation(const std::vector<double> &values1, const std::vector<double> &values2) const;

private:

  double angular_distance_weight_;
};
}

#endif