fixed_joint_model.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
40 {
41  type_ = FIXED;
42 }
43 
45 {
46  return 0;
47 }
48 
49 void moveit::core::FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
50 {
51 }
52 
54  double* values, const Bounds& bounds) const
55 {
56 }
57 
59  double* values, const Bounds& bounds,
60  const double* near, const double distance) const
61 {
62 }
63 
64 bool moveit::core::FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
65 {
66  return false;
67 }
68 
69 bool moveit::core::FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds,
70  double margin) const
71 {
72  return true;
73 }
74 
75 double moveit::core::FixedJointModel::distance(const double* values1, const double* values2) const
76 {
77  return 0.0;
78 }
79 
81 {
82  return 0.0;
83 }
84 
85 void moveit::core::FixedJointModel::interpolate(const double* from, const double* to, const double t,
86  double* state) const
87 {
88 }
89 
90 void moveit::core::FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Affine3d& transf) const
91 {
92  transf.setIdentity();
93 }
94 
95 void moveit::core::FixedJointModel::computeVariablePositions(const Eigen::Affine3d& /* transform */,
96  double* /* joint_values */) const
97 {
98 }
virtual unsigned int getStateSpaceDimension() const
Get the dimension of the state space that corresponds to this joint.
JointType type_
The type of joint.
Definition: joint_model.h:454
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 ...
double getMaximumExtent() const
Definition: joint_model.h:431
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 ...
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...
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.
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.
virtual void computeVariablePositions(const Eigen::Affine3d &transf, double *joint_values) const
Given the transform generated by joint, compute the corresponding joint values.
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
Definition: joint_model.h:108
virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const
Given the joint values for a joint, compute the corresponding transform.
FixedJointModel(const std::string &name)
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 defau...
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) ...
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Jan 15 2018 03:50:44