revolute_joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_

#include <moveit/robot_model/joint_model.h>

namespace moveit
{
namespace core
{

class RevoluteJointModel : public JointModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  RevoluteJointModel(const std::string& name);
  virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const;
  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const;
  virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
                                                const double *near, const double distance) const;
  virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const;
  virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const;
  
  virtual void interpolate(const double *from, const double *to, const double t, double *state) const;
  virtual unsigned int getStateSpaceDimension() const;
  virtual double getMaximumExtent(const Bounds &other_bounds) const;
  virtual double distance(const double *values1, const double *values2) const;
  
  virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const;
  virtual void computeVariablePositions(const Eigen::Affine3d& transf, double *joint_values) const;
  
  void setContinuous(bool flag);
  
  bool isContinuous() const
  {
    return continuous_;
  }
  
  const Eigen::Vector3d& getAxis() const
  {
    return axis_;
  }
  
  void setAxis(const Eigen::Vector3d &axis);
  
protected:
  
  Eigen::Vector3d axis_;
  
  bool continuous_;
  
private:
  
  double x2_, y2_, z2_, xy_, xz_, yz_;  
  
};

}
}

#endif