fixed_joint_model.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
39 namespace moveit
40 {
41 namespace core
42 {
43 FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
44 {
45  type_ = FIXED;
46 }
47 
49 {
50  return 0;
51 }
52 
53 void FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
54 {
55 }
56 
58  const Bounds& bounds) const
59 {
60 }
61 
63  const Bounds& bounds, const double* near,
64  const double distance) const
65 {
66 }
67 
68 bool FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
69 {
70  return false;
71 }
72 
73 bool FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const
74 {
75  return true;
76 }
77 
78 double FixedJointModel::distance(const double* values1, const double* values2) const
79 {
80  return 0.0;
81 }
82 
83 double FixedJointModel::getMaximumExtent(const Bounds& other_bounds) const
84 {
85  return 0.0;
86 }
87 
88 void FixedJointModel::interpolate(const double* from, const double* to, const double t, double* state) const
89 {
90 }
91 
92 void FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Affine3d& transf) const
93 {
94  transf.setIdentity();
95 }
96 
97 void FixedJointModel::computeVariablePositions(const Eigen::Affine3d& /* transform */, double* /* joint_values */) const
98 {
99 }
100 
101 } // end of namespace core
102 } // end of namespace moveit
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) ...
Main namespace for MoveIt!
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 Sat Sep 15 2018 02:51:06