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 {
00047 class FixedJointModel : public JointModel
00048 {
00049 public:
00050   FixedJointModel(const std::string& name);
00051 
00052   virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const;
00053   virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
00054                                           const Bounds& other_bounds) const;
00055   virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
00056                                                 const Bounds& other_bounds, const double* near,
00057                                                 const double distance) const;
00058   virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const;
00059   virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const;
00060 
00061   virtual void interpolate(const double* from, const double* to, const double t, double* state) const;
00062   virtual unsigned int getStateSpaceDimension() const;
00063   virtual double getMaximumExtent(const Bounds& other_bounds) const;
00064   virtual double distance(const double* values1, const double* values2) const;
00065 
00066   virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const;
00067   virtual void computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const;
00068 };
00069 }
00070 }
00071 
00072 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:35