fixed_joint_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_
00039 
00040 #include <moveit/robot_model/joint_model.h>
00041 
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00046 
00048 class FixedJointModel : public JointModel
00049 {
00050 public:
00051   FixedJointModel(const std::string &name);
00052   
00053   virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
00054   virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
00055   virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
00056                                                 const double *near, const double distance) const;
00057   virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
00058   virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;
00059   
00060   virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
00061   virtual unsigned int getStateSpaceDimension() const;
00062   virtual double getMaximumExtent(const Bounds &other_bounds) const;
00063   virtual double distance(const double *values1, const double *values2) const;
00064   
00065   virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
00066   virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;
00067   
00068 };
00069 }
00070 }
00071 
00072 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52