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00037 #ifndef MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00038 #define MOVEIT_CORE_ROBOT_MODEL_REVOLUTE_JOINT_MODEL_
00039
00040 #include <moveit/robot_model/joint_model.h>
00041
00042 namespace moveit
00043 {
00044 namespace core
00045 {
00047 class RevoluteJointModel : public JointModel
00048 {
00049 public:
00050 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00051
00052 RevoluteJointModel(const std::string& name);
00053 virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const;
00054 virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
00055 const Bounds& other_bounds) const;
00056 virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
00057 const Bounds& other_bounds, const double* near,
00058 const double distance) const;
00059 virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const;
00060 virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const;
00061
00062 virtual void interpolate(const double* from, const double* to, const double t, double* state) const;
00063 virtual unsigned int getStateSpaceDimension() const;
00064 virtual double getMaximumExtent(const Bounds& other_bounds) const;
00065 virtual double distance(const double* values1, const double* values2) const;
00066
00067 virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const;
00068 virtual void computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const;
00069
00070 void setContinuous(bool flag);
00071
00073 bool isContinuous() const
00074 {
00075 return continuous_;
00076 }
00077
00079 const Eigen::Vector3d& getAxis() const
00080 {
00081 return axis_;
00082 }
00083
00085 void setAxis(const Eigen::Vector3d& axis);
00086
00087 protected:
00089 Eigen::Vector3d axis_;
00090
00092 bool continuous_;
00093
00094 private:
00095 double x2_, y2_, z2_, xy_, xz_, yz_;
00096 };
00097 }
00098 }
00099
00100 #endif