revolute_joint_model.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
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


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