#include <floating_joint_model.h>
Public Member Functions | |
| virtual void | computeTransform (const double *joint_values, Eigen::Affine3d &transf) const |
| Given the joint values for a joint, compute the corresponding transform. | |
| virtual void | computeVariablePositions (const Eigen::Affine3d &transf, double *joint_values) const |
| Given the transform generated by joint, compute the corresponding joint values. | |
| virtual double | distance (const double *values1, const double *values2) const |
| Compute the distance between two joint states of the same model (represented by the variable values) | |
| double | distanceRotation (const double *values1, const double *values2) const |
| Get the distance between the rotation components of two states. | |
| double | distanceTranslation (const double *values1, const double *values2) const |
| Get the distance between the translation components of two states. | |
| virtual bool | enforcePositionBounds (double *values, const Bounds &other_bounds) const |
| Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Return true if changes were made. | |
| FloatingJointModel (const std::string &name) | |
| double | getAngularDistanceWeight () const |
| virtual double | getMaximumExtent (const Bounds &other_bounds) const |
| Get the extent of the state space (the maximum value distance() can ever report) | |
| virtual unsigned int | getStateSpaceDimension () const |
| Get the dimension of the state space that corresponds to this joint. | |
| virtual void | getVariableDefaultPositions (double *values, const Bounds &other_bounds) const |
| Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated. | |
| virtual void | getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const |
| Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. | |
| virtual void | getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const |
| Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. | |
| virtual void | interpolate (const double *from, const double *to, const double t, double *state) const |
| Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to. | |
| bool | normalizeRotation (double *values) const |
| virtual bool | satisfiesPositionBounds (const double *values, const Bounds &other_bounds, double margin) const |
| Check if the set of position values for the variables of this joint are within bounds, up to some margin. | |
| void | setAngularDistanceWeight (double weight) |
Private Attributes | |
| double | angular_distance_weight_ |
Detailed Description
A floating joint.
Definition at line 47 of file floating_joint_model.h.
Constructor & Destructor Documentation
| moveit::core::FloatingJointModel::FloatingJointModel | ( | const std::string & | name | ) |
Definition at line 44 of file floating_joint_model.cpp.
Member Function Documentation
| void moveit::core::FloatingJointModel::computeTransform | ( | const double * | joint_values, |
| Eigen::Affine3d & | transf | ||
| ) | const [virtual] |
Given the joint values for a joint, compute the corresponding transform.
Implements moveit::core::JointModel.
Definition at line 218 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::computeVariablePositions | ( | const Eigen::Affine3d & | transform, |
| double * | joint_values | ||
| ) | const [virtual] |
Given the transform generated by joint, compute the corresponding joint values.
Implements moveit::core::JointModel.
Definition at line 225 of file floating_joint_model.cpp.
| double moveit::core::FloatingJointModel::distance | ( | const double * | value1, |
| const double * | value2 | ||
| ) | const [virtual] |
Compute the distance between two joint states of the same model (represented by the variable values)
Implements moveit::core::JointModel.
Definition at line 97 of file floating_joint_model.cpp.
| double moveit::core::FloatingJointModel::distanceRotation | ( | const double * | values1, |
| const double * | values2 | ||
| ) | const |
Get the distance between the rotation components of two states.
Definition at line 110 of file floating_joint_model.cpp.
| double moveit::core::FloatingJointModel::distanceTranslation | ( | const double * | values1, |
| const double * | values2 | ||
| ) | const |
Get the distance between the translation components of two states.
Definition at line 102 of file floating_joint_model.cpp.
| bool moveit::core::FloatingJointModel::enforcePositionBounds | ( | double * | values, |
| const Bounds & | other_bounds | ||
| ) | const [virtual] |
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Return true if changes were made.
Implements moveit::core::JointModel.
Definition at line 199 of file floating_joint_model.cpp.
| double moveit::core::FloatingJointModel::getAngularDistanceWeight | ( | ) | const [inline] |
Definition at line 69 of file floating_joint_model.h.
| double moveit::core::FloatingJointModel::getMaximumExtent | ( | const Bounds & | other_bounds | ) | const [virtual] |
Get the extent of the state space (the maximum value distance() can ever report)
Implements moveit::core::JointModel.
Definition at line 89 of file floating_joint_model.cpp.
| unsigned int moveit::core::FloatingJointModel::getStateSpaceDimension | ( | ) | const [virtual] |
Get the dimension of the state space that corresponds to this joint.
Implements moveit::core::JointModel.
Definition at line 194 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::getVariableDefaultPositions | ( | double * | values, |
| const Bounds & | other_bounds | ||
| ) | const [virtual] |
Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 238 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::getVariableRandomPositions | ( | random_numbers::RandomNumberGenerator & | rng, |
| double * | values, | ||
| const Bounds & | other_bounds | ||
| ) | const [virtual] |
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 255 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::getVariableRandomPositionsNearBy | ( | random_numbers::RandomNumberGenerator & | rng, |
| double * | values, | ||
| const Bounds & | other_bounds, | ||
| const double * | near, | ||
| const double | distance | ||
| ) | const [virtual] |
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 282 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::interpolate | ( | const double * | from, |
| const double * | to, | ||
| const double | t, | ||
| double * | state | ||
| ) | const [virtual] |
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
Implements moveit::core::JointModel.
Definition at line 120 of file floating_joint_model.cpp.
| bool moveit::core::FloatingJointModel::normalizeRotation | ( | double * | values | ) | const |
Normalize the quaternion (warn if norm is 0, and set to identity); Return true if any change was made
Definition at line 166 of file floating_joint_model.cpp.
| bool moveit::core::FloatingJointModel::satisfiesPositionBounds | ( | const double * | values, |
| const Bounds & | other_bounds, | ||
| double | margin | ||
| ) | const [virtual] |
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
Implements moveit::core::JointModel.
Definition at line 151 of file floating_joint_model.cpp.
| void moveit::core::FloatingJointModel::setAngularDistanceWeight | ( | double | weight | ) | [inline] |
Definition at line 74 of file floating_joint_model.h.
Member Data Documentation
double moveit::core::FloatingJointModel::angular_distance_weight_ [private] |
Definition at line 90 of file floating_joint_model.h.
The documentation for this class was generated from the following files: