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00037 #ifndef MOVEIT_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00038 #define MOVEIT_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00039
00040 #include <moveit/robot_model/joint_model.h>
00041
00042 namespace robot_model
00043 {
00044
00046 class RevoluteJointModel : public JointModel
00047 {
00048 friend class RobotModel;
00049 public:
00050 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00051
00052 RevoluteJointModel(const std::string& name);
00053 virtual void getVariableDefaultValues(std::vector<double> &values, const Bounds &other_bounds) const;
00054 virtual void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds) const;
00055 virtual void getVariableRandomValuesNearBy(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds,
00056 const std::vector<double> &near, const double distance) const;
00057 virtual void enforceBounds(std::vector<double> &values, const Bounds &other_bounds) const;
00058 virtual bool satisfiesBounds(const std::vector<double> &values, const Bounds &other_bounds, double margin) const;
00059
00060 virtual void interpolate(const std::vector<double> &from, const std::vector<double> &to, const double t, std::vector<double> &state) const;
00061 virtual unsigned int getStateSpaceDimension() const;
00062 virtual double getMaximumExtent(const Bounds &other_bounds) const;
00063 virtual double distance(const std::vector<double> &values1, const std::vector<double> &values2) const;
00064 virtual void computeDefaultVariableLimits();
00065
00066 virtual void computeTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;
00067 virtual void computeJointStateValues(const Eigen::Affine3d& transf, std::vector<double> &joint_values) const;
00068 virtual void updateTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const;
00069
00071 bool isContinuous() const
00072 {
00073 return continuous_;
00074 }
00075
00077 const Eigen::Vector3d& getAxis() const
00078 {
00079 return axis_;
00080 }
00081
00082 protected:
00084 Eigen::Vector3d axis_;
00085
00087 bool continuous_;
00088 };
00089
00090 }
00091
00092 #endif