fixed_joint_model.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/robot_model/fixed_joint_model.h>
00038 
00039 moveit::core::FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
00040 {
00041   type_ = FIXED;
00042 }
00043 
00044 unsigned int moveit::core::FixedJointModel::getStateSpaceDimension() const
00045 {
00046   return 0;
00047 }
00048 
00049 void moveit::core::FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
00050 {
00051 }
00052 
00053 void moveit::core::FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng,
00054                                                                double* values, const Bounds& bounds) const
00055 {
00056 }
00057 
00058 void moveit::core::FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng,
00059                                                                      double* values, const Bounds& bounds,
00060                                                                      const double* near, const double distance) const
00061 {
00062 }
00063 
00064 bool moveit::core::FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
00065 {
00066   return false;
00067 }
00068 
00069 bool moveit::core::FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds,
00070                                                             double margin) const
00071 {
00072   return true;
00073 }
00074 
00075 double moveit::core::FixedJointModel::distance(const double* values1, const double* values2) const
00076 {
00077   return 0.0;
00078 }
00079 
00080 double moveit::core::FixedJointModel::getMaximumExtent(const Bounds& other_bounds) const
00081 {
00082   return 0.0;
00083 }
00084 
00085 void moveit::core::FixedJointModel::interpolate(const double* from, const double* to, const double t,
00086                                                 double* state) const
00087 {
00088 }
00089 
00090 void moveit::core::FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Affine3d& transf) const
00091 {
00092   transf.setIdentity();
00093 }
00094 
00095 void moveit::core::FixedJointModel::computeVariablePositions(const Eigen::Affine3d& /* transform */,
00096                                                              double* /* joint_values */) const
00097 {
00098 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45