prismatic_joint_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
00039 
00040 #include <moveit/robot_model/joint_model.h>
00041 
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00047 class PrismaticJointModel : public JointModel
00048 {
00049 public:
00050   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00051 
00052   PrismaticJointModel(const std::string& name);
00053 
00054   virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const;
00055   virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
00056                                           const Bounds& other_bounds) const;
00057   virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
00058                                                 const Bounds& other_bounds, const double* near,
00059                                                 const double distance) const;
00060   virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const;
00061   virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const;
00062 
00063   virtual void interpolate(const double* from, const double* to, const double t, double* state) const;
00064   virtual unsigned int getStateSpaceDimension() const;
00065   virtual double getMaximumExtent(const Bounds& other_bounds) const;
00066   virtual double distance(const double* values1, const double* values2) const;
00067 
00068   virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const;
00069   virtual void computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const;
00070 
00072   const Eigen::Vector3d& getAxis() const
00073   {
00074     return axis_;
00075   }
00076 
00078   void setAxis(const Eigen::Vector3d& axis)
00079   {
00080     axis_ = axis;
00081   }
00082 
00083 protected:
00085   Eigen::Vector3d axis_;
00086 };
00087 }
00088 }
00089 
00090 #endif


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