Main namespace for representing robot planning models. More...

Classes
class	FixedJointModel
	A fixed joint. More...
class	FloatingJointModel
	A floating joint. More...
class	JointModel
	A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...
class	JointModelGroup
class	LinkModel
	A link from the robot. Contains the constant transform applied to the link and its geometry. More...
class	PlanarJointModel
	A planar joint. More...
class	PrismaticJointModel
	A prismatic joint. More...
class	RevoluteJointModel
	A revolute joint. More...
class	RobotModel
	Definition of a kinematic model. This class is not thread safe, however multiple instances can be created. More...
Typedefs
typedef boost::shared_ptr < const RobotModel >	RobotModelConstPtr
typedef boost::shared_ptr < RobotModel >	RobotModelPtr
typedef boost::function < kinematics::KinematicsBasePtr(const JointModelGroup *)	SolverAllocatorFn )
	function type that allocates a kinematics solver for a particular group
typedef std::map< const JointModelGroup *, SolverAllocatorFn >	SolverAllocatorMapFn
	function type that allocates a kinematics solvers for subgroups of a group
Functions
static Eigen::Affine3d	urdfPose2Affine3d (const urdf::Pose &pose)