Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
moveit::core::JointModel Class Referenceabstract

A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...

#include <joint_model.h>

Inheritance diagram for moveit::core::JointModel:
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Public Types

typedef std::vector< VariableBoundsBounds
 The datatype for the joint bounds. More...
 
enum  JointType {
  UNKNOWN, REVOLUTE, PRISMATIC, PLANAR,
  FLOATING, FIXED
}
 The different types of joints we support. More...
 

Public Member Functions

void addDescendantJointModel (const JointModel *joint)
 
void addDescendantLinkModel (const LinkModel *link)
 
void addMimicRequest (const JointModel *joint)
 Notify this joint that there is another joint that mimics it. More...
 
virtual double distance (const double *value1, const double *value2) const =0
 Compute the distance between two joint states of the same model (represented by the variable values) More...
 
const LinkModelgetChildLinkModel () const
 Get the link that this joint connects to. There will always be such a link. More...
 
const std::vector< const JointModel * > & getDescendantJointModels () const
 Get all the joint models that descend from this joint, in the kinematic tree. More...
 
const std::vector< const LinkModel * > & getDescendantLinkModels () const
 Get all the link models that descend from this joint, in the kinematic tree. More...
 
double getDistanceFactor () const
 Get the factor that should be applied to the value returned by distance() when that value is used in compound distances. More...
 
virtual double getMaximumExtent (const Bounds &other_bounds) const =0
 Get the extent of the state space (the maximum value distance() can ever report) More...
 
double getMaximumExtent () const
 
const JointModelgetMimic () const
 Get the joint this one is mimicking. More...
 
double getMimicFactor () const
 If mimicking a joint, this is the multiplicative factor for that joint's value. More...
 
double getMimicOffset () const
 If mimicking a joint, this is the offset added to that joint's value. More...
 
const std::vector< const JointModel * > & getMimicRequests () const
 The joint models whose values would be modified if the value of this joint changed. More...
 
const std::string & getName () const
 Get the name of the joint. More...
 
const std::vector< const JointModel * > & getNonFixedDescendantJointModels () const
 Get all the non-fixed joint models that descend from this joint, in the kinematic tree. More...
 
const LinkModelgetParentLinkModel () const
 Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return a NULL pointer here. More...
 
virtual unsigned int getStateSpaceDimension () const =0
 Get the dimension of the state space that corresponds to this joint. More...
 
JointType getType () const
 Get the type of joint. More...
 
std::string getTypeName () const
 Get the type of joint as a string. More...
 
virtual void interpolate (const double *from, const double *to, const double t, double *state) const =0
 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. More...
 
bool isPassive () const
 Check if this joint is passive. More...
 
 JointModel (const std::string &name)
 Construct a joint named name. More...
 
void setChildLinkModel (const LinkModel *link)
 
void setDistanceFactor (double factor)
 Set the factor that should be applied to the value returned by distance() when that value is used in compound distances. More...
 
void setMimic (const JointModel *mimic, double factor, double offset)
 Mark this joint as mimicking mimic using factor and offset. More...
 
void setParentLinkModel (const LinkModel *link)
 
void setPassive (bool flag)
 
virtual ~JointModel ()
 
Reason about the variables that make up this joint
const std::vector< std::string > & getVariableNames () const
 Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multi-DOF joints these will be the joint name followed by "/", followed by the local names of the variables. More...
 
const std::vector< std::string > & getLocalVariableNames () const
 Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty. More...
 
bool hasVariable (const std::string &variable) const
 Check if a particular variable is known to this joint. More...
 
std::size_t getVariableCount () const
 Get the number of variables that describe this joint. More...
 
int getFirstVariableIndex () const
 Get the index of this joint's first variable within the full robot state. More...
 
void setFirstVariableIndex (int index)
 Set the index of this joint's first variable within the full robot state. More...
 
int getJointIndex () const
 Get the index of this joint within the robot model. More...
 
void setJointIndex (int index)
 Set the index of this joint within the robot model. More...
 
int getLocalVariableIndex (const std::string &variable) const
 Get the index of the variable within this joint. More...
 
Functionality specific to computing state values
void getVariableDefaultPositions (double *values) const
 Provide a default value for the joint given the default joint variable bounds (maintained internally). 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. More...
 
virtual void getVariableDefaultPositions (double *values, const Bounds &other_bounds) const =0
 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. More...
 
void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const
 Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated. More...
 
virtual void getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const =0
 Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. More...
 
void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const double *near, const double distance) const
 Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated. More...
 
virtual void getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const =0
 Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. More...
 
Functionality specific to verifying bounds
bool satisfiesPositionBounds (const double *values, double margin=0.0) const
 Check if the set of values for the variables of this joint are within bounds. More...
 
virtual bool satisfiesPositionBounds (const double *values, const Bounds &other_bounds, double margin) const =0
 Check if the set of position values for the variables of this joint are within bounds, up to some margin. More...
 
bool enforcePositionBounds (double *values) const
 Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Returns true if changes were made. More...
 
virtual bool enforcePositionBounds (double *values, const Bounds &other_bounds) const =0
 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. More...
 
bool satisfiesVelocityBounds (const double *values, double margin=0.0) const
 Check if the set of velocities for the variables of this joint are within bounds. More...
 
virtual bool satisfiesVelocityBounds (const double *values, const Bounds &other_bounds, double margin) const
 Check if the set of velocities for the variables of this joint are within bounds, up to some margin. More...
 
bool enforceVelocityBounds (double *values) const
 Force the specified velocities to be within bounds. Return true if changes were made. More...
 
virtual bool enforceVelocityBounds (double *values, const Bounds &other_bounds) const
 Force the specified velocities to be inside bounds. Return true if changes were made. More...
 
const VariableBoundsgetVariableBounds (const std::string &variable) const
 Get the bounds for a variable. Throw an exception if the variable was not found. More...
 
const BoundsgetVariableBounds () const
 Get the variable bounds for this joint, in the same order as the names returned by getVariableNames() More...
 
void setVariableBounds (const std::string &variable, const VariableBounds &bounds)
 Set the lower and upper bounds for a variable. Throw an exception if the variable was not found. More...
 
void setVariableBounds (const std::vector< moveit_msgs::JointLimits > &jlim)
 Override joint limits loaded from URDF. Unknown variables are ignored. More...
 
const std::vector< moveit_msgs::JointLimits > & getVariableBoundsMsg () const
 Get the joint limits known to this model, as a message. More...
 
Computing transforms
virtual void computeTransform (const double *joint_values, Eigen::Affine3d &transf) const =0
 Given the joint values for a joint, compute the corresponding transform. More...
 
virtual void computeVariablePositions (const Eigen::Affine3d &transform, double *joint_values) const =0
 Given the transform generated by joint, compute the corresponding joint values. More...
 

Protected Member Functions

void computeVariableBoundsMsg ()
 

Protected Attributes

const LinkModelchild_link_model_
 The link after this joint. More...
 
std::vector< const JointModel * > descendant_joint_models_
 Pointers to all the joints that follow this one in the kinematic tree (including mimic joints) More...
 
std::vector< const LinkModel * > descendant_link_models_
 Pointers to all the links that will be moved if this joint changes value. More...
 
double distance_factor_
 The factor applied to the distance between two joint states. More...
 
int first_variable_index_
 The index of this joint's first variable, in the complete robot state. More...
 
int joint_index_
 Index for this joint in the array of joints of the complete model. More...
 
std::vector< std::string > local_variable_names_
 The local names to use for the variables that make up this joint. More...
 
const JointModelmimic_
 The joint this one mimics (NULL for joints that do not mimic) More...
 
double mimic_factor_
 The offset to the mimic joint. More...
 
double mimic_offset_
 The multiplier to the mimic joint. More...
 
std::vector< const JointModel * > mimic_requests_
 The set of joints that should get a value copied to them when this joint changes. More...
 
std::string name_
 Name of the joint. More...
 
std::vector< const JointModel * > non_fixed_descendant_joint_models_
 Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints. More...
 
const LinkModelparent_link_model_
 The link before this joint. More...
 
bool passive_
 Specify whether this joint is marked as passive in the SRDF. More...
 
JointType type_
 The type of joint. More...
 
Bounds variable_bounds_
 The bounds for each variable (low, high) in the same order as variable_names_. More...
 
std::vector< moveit_msgs::JointLimits > variable_bounds_msg_
 
VariableIndexMap variable_index_map_
 Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only) More...
 
std::vector< std::string > variable_names_
 The full names to use for the variables that make up this joint. More...
 

Detailed Description

A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly.

Definition at line 108 of file joint_model.h.

Member Typedef Documentation

The datatype for the joint bounds.

Definition at line 123 of file joint_model.h.

Member Enumeration Documentation

The different types of joints we support.

Enumerator
UNKNOWN 
REVOLUTE 
PRISMATIC 
PLANAR 
FLOATING 
FIXED 

Definition at line 112 of file joint_model.h.

Constructor & Destructor Documentation

moveit::core::JointModel::JointModel ( const std::string &  name)

Construct a joint named name.

Definition at line 47 of file joint_model.cpp.

moveit::core::JointModel::~JointModel ( )
virtualdefault

Member Function Documentation

void moveit::core::JointModel::addDescendantJointModel ( const JointModel joint)

Definition at line 191 of file joint_model.cpp.

void moveit::core::JointModel::addDescendantLinkModel ( const LinkModel link)

Definition at line 198 of file joint_model.cpp.

void moveit::core::JointModel::addMimicRequest ( const JointModel joint)

Notify this joint that there is another joint that mimics it.

Definition at line 186 of file joint_model.cpp.

virtual void moveit::core::JointModel::computeTransform ( const double *  joint_values,
Eigen::Affine3d &  transf 
) const
pure virtual
void moveit::core::JointModel::computeVariableBoundsMsg ( )
protected

Definition at line 160 of file joint_model.cpp.

virtual void moveit::core::JointModel::computeVariablePositions ( const Eigen::Affine3d &  transform,
double *  joint_values 
) const
pure virtual

Given the transform generated by joint, compute the corresponding joint values.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

virtual double moveit::core::JointModel::distance ( const double *  value1,
const double *  value2 
) const
pure virtual

Compute the distance between two joint states of the same model (represented by the variable values)

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

bool moveit::core::JointModel::enforcePositionBounds ( double *  values) const
inline

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi. Returns true if changes were made.

Definition at line 290 of file joint_model.h.

virtual bool moveit::core::JointModel::enforcePositionBounds ( double *  values,
const Bounds other_bounds 
) const
pure 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.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

bool moveit::core::JointModel::enforceVelocityBounds ( double *  values) const
inline

Force the specified velocities to be within bounds. Return true if changes were made.

Definition at line 310 of file joint_model.h.

bool moveit::core::JointModel::enforceVelocityBounds ( double *  values,
const Bounds other_bounds 
) const
virtual

Force the specified velocities to be inside bounds. Return true if changes were made.

Definition at line 93 of file joint_model.cpp.

const LinkModel* moveit::core::JointModel::getChildLinkModel ( ) const
inline

Get the link that this joint connects to. There will always be such a link.

Definition at line 154 of file joint_model.h.

const std::vector<const JointModel*>& moveit::core::JointModel::getDescendantJointModels ( ) const
inline

Get all the joint models that descend from this joint, in the kinematic tree.

Definition at line 400 of file joint_model.h.

const std::vector<const LinkModel*>& moveit::core::JointModel::getDescendantLinkModels ( ) const
inline

Get all the link models that descend from this joint, in the kinematic tree.

Definition at line 394 of file joint_model.h.

double moveit::core::JointModel::getDistanceFactor ( ) const
inline

Get the factor that should be applied to the value returned by distance() when that value is used in compound distances.

Definition at line 346 of file joint_model.h.

int moveit::core::JointModel::getFirstVariableIndex ( ) const
inline

Get the index of this joint's first variable within the full robot state.

Definition at line 202 of file joint_model.h.

int moveit::core::JointModel::getJointIndex ( ) const
inline

Get the index of this joint within the robot model.

Definition at line 214 of file joint_model.h.

int moveit::core::JointModel::getLocalVariableIndex ( const std::string &  variable) const

Get the index of the variable within this joint.

Definition at line 85 of file joint_model.cpp.

const std::vector<std::string>& moveit::core::JointModel::getLocalVariableNames ( ) const
inline

Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty.

Definition at line 184 of file joint_model.h.

virtual double moveit::core::JointModel::getMaximumExtent ( const Bounds other_bounds) const
pure virtual
double moveit::core::JointModel::getMaximumExtent ( ) const
inline

Definition at line 431 of file joint_model.h.

const JointModel* moveit::core::JointModel::getMimic ( ) const
inline

Get the joint this one is mimicking.

Definition at line 362 of file joint_model.h.

double moveit::core::JointModel::getMimicFactor ( ) const
inline

If mimicking a joint, this is the multiplicative factor for that joint's value.

Definition at line 374 of file joint_model.h.

double moveit::core::JointModel::getMimicOffset ( ) const
inline

If mimicking a joint, this is the offset added to that joint's value.

Definition at line 368 of file joint_model.h.

const std::vector<const JointModel*>& moveit::core::JointModel::getMimicRequests ( ) const
inline

The joint models whose values would be modified if the value of this joint changed.

Definition at line 383 of file joint_model.h.

const std::string& moveit::core::JointModel::getName ( ) const
inline

Get the name of the joint.

Definition at line 131 of file joint_model.h.

const std::vector<const JointModel*>& moveit::core::JointModel::getNonFixedDescendantJointModels ( ) const
inline

Get all the non-fixed joint models that descend from this joint, in the kinematic tree.

Definition at line 406 of file joint_model.h.

const LinkModel* moveit::core::JointModel::getParentLinkModel ( ) const
inline

Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return a NULL pointer here.

Definition at line 148 of file joint_model.h.

virtual unsigned int moveit::core::JointModel::getStateSpaceDimension ( ) const
pure virtual
JointType moveit::core::JointModel::getType ( ) const
inline

Get the type of joint.

Definition at line 137 of file joint_model.h.

std::string moveit::core::JointModel::getTypeName ( ) const

Get the type of joint as a string.

Definition at line 64 of file joint_model.cpp.

const VariableBounds & moveit::core::JointModel::getVariableBounds ( const std::string &  variable) const

Get the bounds for a variable. Throw an exception if the variable was not found.

Definition at line 120 of file joint_model.cpp.

const Bounds& moveit::core::JointModel::getVariableBounds ( ) const
inline

Get the variable bounds for this joint, in the same order as the names returned by getVariableNames()

Definition at line 322 of file joint_model.h.

const std::vector<moveit_msgs::JointLimits>& moveit::core::JointModel::getVariableBoundsMsg ( ) const
inline

Get the joint limits known to this model, as a message.

Definition at line 334 of file joint_model.h.

std::size_t moveit::core::JointModel::getVariableCount ( ) const
inline

Get the number of variables that describe this joint.

Definition at line 196 of file joint_model.h.

void moveit::core::JointModel::getVariableDefaultPositions ( double *  values) const
inline

Provide a default value for the joint given the default joint variable bounds (maintained internally). 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.

Definition at line 236 of file joint_model.h.

virtual void moveit::core::JointModel::getVariableDefaultPositions ( double *  values,
const Bounds other_bounds 
) const
pure 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.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

const std::vector<std::string>& moveit::core::JointModel::getVariableNames ( ) const
inline

Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multi-DOF joints these will be the joint name followed by "/", followed by the local names of the variables.

Definition at line 176 of file joint_model.h.

void moveit::core::JointModel::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
double *  values 
) const
inline

Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

Definition at line 248 of file joint_model.h.

virtual void moveit::core::JointModel::getVariableRandomPositions ( random_numbers::RandomNumberGenerator rng,
double *  values,
const Bounds other_bounds 
) const
pure virtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

void moveit::core::JointModel::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const double *  near,
const double  distance 
) const
inline

Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.

Definition at line 260 of file joint_model.h.

virtual void moveit::core::JointModel::getVariableRandomPositionsNearBy ( random_numbers::RandomNumberGenerator rng,
double *  values,
const Bounds other_bounds,
const double *  near,
const double  distance 
) const
pure virtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

bool moveit::core::JointModel::hasVariable ( const std::string &  variable) const
inline

Check if a particular variable is known to this joint.

Definition at line 190 of file joint_model.h.

virtual void moveit::core::JointModel::interpolate ( const double *  from,
const double *  to,
const double  t,
double *  state 
) const
pure 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.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

bool moveit::core::JointModel::isPassive ( ) const
inline

Check if this joint is passive.

Definition at line 412 of file joint_model.h.

bool moveit::core::JointModel::satisfiesPositionBounds ( const double *  values,
double  margin = 0.0 
) const
inline

Check if the set of values for the variables of this joint are within bounds.

Definition at line 278 of file joint_model.h.

virtual bool moveit::core::JointModel::satisfiesPositionBounds ( const double *  values,
const Bounds other_bounds,
double  margin 
) const
pure virtual

Check if the set of position values for the variables of this joint are within bounds, up to some margin.

Implemented in moveit::core::PrismaticJointModel, moveit::core::RevoluteJointModel, moveit::core::FixedJointModel, moveit::core::FloatingJointModel, and moveit::core::PlanarJointModel.

bool moveit::core::JointModel::satisfiesVelocityBounds ( const double *  values,
double  margin = 0.0 
) const
inline

Check if the set of velocities for the variables of this joint are within bounds.

Definition at line 301 of file joint_model.h.

bool moveit::core::JointModel::satisfiesVelocityBounds ( const double *  values,
const Bounds other_bounds,
double  margin 
) const
virtual

Check if the set of velocities for the variables of this joint are within bounds, up to some margin.

Definition at line 110 of file joint_model.cpp.

void moveit::core::JointModel::setChildLinkModel ( const LinkModel link)
inline

Definition at line 164 of file joint_model.h.

void moveit::core::JointModel::setDistanceFactor ( double  factor)
inline

Set the factor that should be applied to the value returned by distance() when that value is used in compound distances.

Definition at line 353 of file joint_model.h.

void moveit::core::JointModel::setFirstVariableIndex ( int  index)
inline

Set the index of this joint's first variable within the full robot state.

Definition at line 208 of file joint_model.h.

void moveit::core::JointModel::setJointIndex ( int  index)
inline

Set the index of this joint within the robot model.

Definition at line 220 of file joint_model.h.

void moveit::core::JointModel::setMimic ( const JointModel mimic,
double  factor,
double  offset 
)

Mark this joint as mimicking mimic using factor and offset.

Definition at line 179 of file joint_model.cpp.

void moveit::core::JointModel::setParentLinkModel ( const LinkModel link)
inline

Definition at line 159 of file joint_model.h.

void moveit::core::JointModel::setPassive ( bool  flag)
inline

Definition at line 417 of file joint_model.h.

void moveit::core::JointModel::setVariableBounds ( const std::string &  variable,
const VariableBounds bounds 
)

Set the lower and upper bounds for a variable. Throw an exception if the variable was not found.

Definition at line 125 of file joint_model.cpp.

void moveit::core::JointModel::setVariableBounds ( const std::vector< moveit_msgs::JointLimits > &  jlim)

Override joint limits loaded from URDF. Unknown variables are ignored.

Definition at line 131 of file joint_model.cpp.

Member Data Documentation

const LinkModel* moveit::core::JointModel::child_link_model_
protected

The link after this joint.

Definition at line 475 of file joint_model.h.

std::vector<const JointModel*> moveit::core::JointModel::descendant_joint_models_
protected

Pointers to all the joints that follow this one in the kinematic tree (including mimic joints)

Definition at line 493 of file joint_model.h.

std::vector<const LinkModel*> moveit::core::JointModel::descendant_link_models_
protected

Pointers to all the links that will be moved if this joint changes value.

Definition at line 490 of file joint_model.h.

double moveit::core::JointModel::distance_factor_
protected

The factor applied to the distance between two joint states.

Definition at line 503 of file joint_model.h.

int moveit::core::JointModel::first_variable_index_
protected

The index of this joint's first variable, in the complete robot state.

Definition at line 506 of file joint_model.h.

int moveit::core::JointModel::joint_index_
protected

Index for this joint in the array of joints of the complete model.

Definition at line 509 of file joint_model.h.

std::vector<std::string> moveit::core::JointModel::local_variable_names_
protected

The local names to use for the variables that make up this joint.

Definition at line 457 of file joint_model.h.

const JointModel* moveit::core::JointModel::mimic_
protected

The joint this one mimics (NULL for joints that do not mimic)

Definition at line 478 of file joint_model.h.

double moveit::core::JointModel::mimic_factor_
protected

The offset to the mimic joint.

Definition at line 481 of file joint_model.h.

double moveit::core::JointModel::mimic_offset_
protected

The multiplier to the mimic joint.

Definition at line 484 of file joint_model.h.

std::vector<const JointModel*> moveit::core::JointModel::mimic_requests_
protected

The set of joints that should get a value copied to them when this joint changes.

Definition at line 487 of file joint_model.h.

std::string moveit::core::JointModel::name_
protected

Name of the joint.

Definition at line 451 of file joint_model.h.

std::vector<const JointModel*> moveit::core::JointModel::non_fixed_descendant_joint_models_
protected

Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints.

Definition at line 497 of file joint_model.h.

const LinkModel* moveit::core::JointModel::parent_link_model_
protected

The link before this joint.

Definition at line 472 of file joint_model.h.

bool moveit::core::JointModel::passive_
protected

Specify whether this joint is marked as passive in the SRDF.

Definition at line 500 of file joint_model.h.

JointType moveit::core::JointModel::type_
protected

The type of joint.

Definition at line 454 of file joint_model.h.

Bounds moveit::core::JointModel::variable_bounds_
protected

The bounds for each variable (low, high) in the same order as variable_names_.

Definition at line 463 of file joint_model.h.

std::vector<moveit_msgs::JointLimits> moveit::core::JointModel::variable_bounds_msg_
protected

Definition at line 465 of file joint_model.h.

VariableIndexMap moveit::core::JointModel::variable_index_map_
protected

Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only)

Definition at line 469 of file joint_model.h.

std::vector<std::string> moveit::core::JointModel::variable_names_
protected

The full names to use for the variables that make up this joint.

Definition at line 460 of file joint_model.h.


The documentation for this class was generated from the following files:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 18 2018 02:48:32