A joint from the robot. Contains the transform applied by the joint type. More...

#include <kinematic_model.h>

Inheritance diagram for planning_models::KinematicModel::JointModel:

Public Types
typedef boost::bimap < std::string, std::string >	js_type
Public Member Functions
virtual std::vector< double >	computeJointStateValues (const tf::Transform &transform) const =0
virtual tf::Transform	computeTransform (const std::vector< double > &joint_values) const =0
const std::map< std::string, std::pair< double, double > > &	getAllVariableBounds () const
const std::string &	getChildFrameId () const
const LinkModel *	getChildLinkModel () const
const std::map< unsigned int, std::string > &	getComputatationOrderMapIndex () const
std::string	getEquiv (const std::string &name) const
	Gets the joint state equivalent for given name.
const js_type &	getJointStateEquivalents () const
const std::string &	getName () const
const std::string &	getParentFrameId () const
const LinkModel *	getParentLinkModel () const
bool	getVariableBounds (const std::string &variable, std::pair< double, double > &bounds) const
	Gets the lower and upper bounds for a variable.
virtual void	getVariableDefaultValuesGivenBounds (std::map< std::string, double > &ret_map) const
	Provides a default value for the joint given the joint bounds. Most joints will use the default, but the quaternion for floating point values needs something else.
bool	hasVariable (const std::string var) const
void	initialize (const std::vector< std::string > &local_names, const MultiDofConfig *multi_dof_config=NULL)
virtual bool	isValueWithinVariableBounds (const std::string &variable, const double &value, bool &within_bounds) const
	JointModel (const std::string &name)
	JointModel (const JointModel *joint)
bool	setVariableBounds (const std::string &variable, double low, double high)
	Sets the lower and upper bounds for a variable.
virtual	~JointModel (void)
Private Attributes
std::string	child_frame_id_
LinkModel *	child_link_model_
	The link after this joint.
std::map< unsigned int, std::string >	computation_order_map_index_
std::map< std::string, std::pair< double, double > >	joint_state_bounds_
js_type	joint_state_equivalents_
std::string	name_
	Name of the joint.
std::string	parent_frame_id_
LinkModel *	parent_link_model_
	The link before this joint.
Friends
class	KinematicModel

Detailed Description

A joint from the robot. Contains the transform applied by the joint type.

Definition at line 123 of file kinematic_model.h.

Member Typedef Documentation

typedef boost::bimap< std::string, std::string > planning_models::KinematicModel::JointModel::js_type

Definition at line 136 of file kinematic_model.h.

Constructor & Destructor Documentation

planning_models::KinematicModel::JointModel::JointModel ( const std::string & name )

Definition at line 790 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel::JointModel ( const JointModel * joint )

Definition at line 829 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel::~JointModel ( void ) [virtual]

Definition at line 837 of file kinematic_model.cpp.

Member Function Documentation

virtual std::vector<double> planning_models::KinematicModel::JointModel::computeJointStateValues ( const tf::Transform & transform ) const [pure virtual]

Implemented in planning_models::KinematicModel::RevoluteJointModel, planning_models::KinematicModel::PrismaticJointModel, planning_models::KinematicModel::FloatingJointModel, planning_models::KinematicModel::PlanarJointModel, and planning_models::KinematicModel::FixedJointModel.

virtual tf::Transform planning_models::KinematicModel::JointModel::computeTransform ( const std::vector< double > & joint_values ) const [pure virtual]

Implemented in planning_models::KinematicModel::RevoluteJointModel, planning_models::KinematicModel::PrismaticJointModel, planning_models::KinematicModel::FloatingJointModel, planning_models::KinematicModel::PlanarJointModel, and planning_models::KinematicModel::FixedJointModel.

const std::map<std::string, std::pair<double, double> >& planning_models::KinematicModel::JointModel::getAllVariableBounds ( ) const [inline]

Definition at line 188 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getChildFrameId ( ) const [inline]

Definition at line 158 of file kinematic_model.h.

const LinkModel* planning_models::KinematicModel::JointModel::getChildLinkModel ( ) const [inline]

Definition at line 148 of file kinematic_model.h.

const std::map<unsigned int, std::string>& planning_models::KinematicModel::JointModel::getComputatationOrderMapIndex ( ) const [inline]

Definition at line 168 of file kinematic_model.h.

std::string planning_models::KinematicModel::JointModel::getEquiv ( const std::string & name ) const

Gets the joint state equivalent for given name.

Definition at line 843 of file kinematic_model.cpp.

const js_type& planning_models::KinematicModel::JointModel::getJointStateEquivalents ( ) const [inline]

Definition at line 163 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getName ( void ) const [inline]

Definition at line 138 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getParentFrameId ( ) const [inline]

Definition at line 153 of file kinematic_model.h.

const LinkModel* planning_models::KinematicModel::JointModel::getParentLinkModel ( ) const [inline]

Definition at line 143 of file kinematic_model.h.

bool planning_models::KinematicModel::JointModel::getVariableBounds	(	const std::string &	variable,
		std::pair< double, double > &	bounds
	)		const

Gets the lower and upper bounds for a variable.

Definition at line 861 of file kinematic_model.cpp.

void planning_models::KinematicModel::JointModel::getVariableDefaultValuesGivenBounds ( std::map< std::string, double > & ret_map ) const [virtual]

Provides a default value for the joint given the joint bounds. Most joints will use the default, but the quaternion for floating point values needs something else.

Reimplemented in planning_models::KinematicModel::FloatingJointModel.

Definition at line 875 of file kinematic_model.cpp.

bool planning_models::KinematicModel::JointModel::hasVariable ( const std::string var ) const [inline]

Definition at line 192 of file kinematic_model.h.

void planning_models::KinematicModel::JointModel::initialize	(	const std::vector< std::string > &	local_names,
		const MultiDofConfig *	multi_dof_config = `NULL`
	)

Definition at line 795 of file kinematic_model.cpp.

bool planning_models::KinematicModel::JointModel::isValueWithinVariableBounds	(	const std::string &	variable,
		const double &	value,
		bool &	within_bounds
	)		const `[virtual]`