Public Member Functions | Private Attributes
planning_models::KinematicState::JointState Class Reference

Forward definition of a joint group state. More...

#include <kinematic_state.h>

List of all members.

Public Member Functions

bool allJointStateValuesAreDefined (const std::map< std::string, double > &joint_value_map) const
 Specifies whether or not all values associated with a joint are defined in the supplied joint value map.
bool areJointStateValuesWithinBounds () const
 Checks if the current joint state values are all within the bounds set in the model.
const std::map< std::string,
std::pair< double, double > > & 
getAllJointValueBounds () const
 gets all bounds for a particular joint
const std::string & getChildFrameId () const
unsigned int getDimension ()
 Gets the number of dimensions for a joint.
const KinematicModel::JointModelgetJointModel () const
 Gets the joint model.
const std::map< std::string,
unsigned int > & 
getJointStateIndexMap () const
const std::vector< std::string > & getJointStateNameOrder () const
 Gets the required name order for the joint state values.
const std::vector< double > & getJointStateValues () const
 Gets the joint state values stored in the required order.
bool getJointValueBounds (const std::string &value_name, double &low, double &high) const
 returns a pair of the low and high bounds for the given joint value. Supplied name should be externally defined name.
const std::string & getName () const
const std::string & getParentFrameId () const
const tf::TransformgetVariableTransform () const
 Gets the current variable transform.
 JointState (const KinematicModel::JointModel *jm)
bool setJointStateValues (const std::map< std::string, double > &joint_value_map)
 Sets the internal values from the joint_value_map.
bool setJointStateValues (const std::map< std::string, double > &joint_value_map, std::vector< std::string > &missing_states)
 Sets the internal values from the joint_value_map, returning states that aren't being set.
bool setJointStateValues (const std::vector< double > &joint_value_vector)
 Sets the internal values from the supplied vector, which are assumed to be in the required order.
bool setJointStateValues (const tf::Transform &transform)
 Sets the internal values from the transform.
 ~JointState ()

Private Attributes

const KinematicModel::JointModeljoint_model_
std::map< std::string,
unsigned int > 
joint_state_index_map_
std::vector< std::string > joint_state_name_order_
std::vector< double > joint_state_values_
tf::Transform variable_transform_
 the local transform (computed by forward kinematics)

Detailed Description

Forward definition of a joint group state.

Definition at line 62 of file kinematic_state.h.


Constructor & Destructor Documentation

brief Constructs the joint state from the model

Definition at line 375 of file kinematic_state.cpp.

Definition at line 69 of file kinematic_state.h.


Member Function Documentation

bool planning_models::KinematicState::JointState::allJointStateValuesAreDefined ( const std::map< std::string, double > &  joint_value_map) const

Specifies whether or not all values associated with a joint are defined in the supplied joint value map.

Definition at line 462 of file kinematic_state.cpp.

Checks if the current joint state values are all within the bounds set in the model.

Definition at line 497 of file kinematic_state.cpp.

const std::map< std::string, std::pair< double, double > > & planning_models::KinematicState::JointState::getAllJointValueBounds ( ) const

gets all bounds for a particular joint

Definition at line 492 of file kinematic_state.cpp.

const std::string& planning_models::KinematicState::JointState::getChildFrameId ( ) const [inline]

Definition at line 139 of file kinematic_state.h.

Gets the number of dimensions for a joint.

Definition at line 106 of file kinematic_state.h.

Gets the joint model.

Definition at line 124 of file kinematic_state.h.

const std::map<std::string, unsigned int>& planning_models::KinematicState::JointState::getJointStateIndexMap ( ) const [inline]

Definition at line 129 of file kinematic_state.h.

const std::vector< std::string > & planning_models::KinematicState::JointState::getJointStateNameOrder ( ) const

Gets the required name order for the joint state values.

Definition at line 477 of file kinematic_state.cpp.

Gets the joint state values stored in the required order.

Definition at line 473 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointState::getJointValueBounds ( const std::string &  value_name,
double &  low,
double &  high 
) const

returns a pair of the low and high bounds for the given joint value. Supplied name should be externally defined name.

Definition at line 481 of file kinematic_state.cpp.

const std::string& planning_models::KinematicState::JointState::getName ( void  ) const [inline]

Definition at line 100 of file kinematic_state.h.

Definition at line 134 of file kinematic_state.h.

Gets the current variable transform.

Definition at line 118 of file kinematic_state.h.

bool planning_models::KinematicState::JointState::setJointStateValues ( const std::map< std::string, double > &  joint_value_map)

Sets the internal values from the joint_value_map.

Definition at line 404 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointState::setJointStateValues ( const std::map< std::string, double > &  joint_value_map,
std::vector< std::string > &  missing_states 
)

Sets the internal values from the joint_value_map, returning states that aren't being set.

Definition at line 429 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointState::setJointStateValues ( const std::vector< double > &  joint_value_vector)

Sets the internal values from the supplied vector, which are assumed to be in the required order.

Definition at line 395 of file kinematic_state.cpp.

Sets the internal values from the transform.

Definition at line 456 of file kinematic_state.cpp.


Member Data Documentation

Definition at line 146 of file kinematic_state.h.

std::map<std::string, unsigned int> planning_models::KinematicState::JointState::joint_state_index_map_ [private]

Definition at line 151 of file kinematic_state.h.

Definition at line 153 of file kinematic_state.h.

Definition at line 155 of file kinematic_state.h.

the local transform (computed by forward kinematics)

Definition at line 149 of file kinematic_state.h.


The documentation for this class was generated from the following files:


planning_models
Author(s): Ioan Sucan/isucan@willowgarage.com
autogenerated on Mon Dec 2 2013 12:33:38