fixed_joint_model.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model/fixed_joint_model.h>

moveit::core::FixedJointModel::FixedJointModel(const std::string& name)
  : JointModel(name)
{
  type_ = FIXED;
}

unsigned int moveit::core::FixedJointModel::getStateSpaceDimension() const
{
  return 0;
}

void moveit::core::FixedJointModel::getVariableDefaultPositions(double *values, const Bounds &bounds) const
{
}

void moveit::core::FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &bounds) const
{
}

void moveit::core::FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &bounds,
                                                                     const double *near, const double distance) const
{
}

bool moveit::core::FixedJointModel::enforcePositionBounds(double *values, const Bounds &bounds) const
{
  return false;
}

bool moveit::core::FixedJointModel::satisfiesPositionBounds(const double *values, const Bounds &bounds, double margin) const
{
  return true;
}

double moveit::core::FixedJointModel::distance(const double *values1, const double *values2) const
{
  return 0.0;
}

double moveit::core::FixedJointModel::getMaximumExtent(const Bounds &other_bounds) const
{
  return 0.0;
}

void moveit::core::FixedJointModel::interpolate(const double *from, const double *to, const double t, double *state) const
{
}

void moveit::core::FixedJointModel::computeTransform(const double */* joint_values */, Eigen::Affine3d &transf) const
{
  transf.setIdentity();
}

void moveit::core::FixedJointModel::computeVariablePositions(const Eigen::Affine3d& /* transform */, double * /* joint_values */) const
{
}