planar_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_
38 #define MOVEIT_CORE_ROBOT_MODEL_PLANAR_JOINT_MODEL_
39 
41 
42 namespace moveit
43 {
44 namespace core
45 {
48 {
49 public:
50  PlanarJointModel(const std::string& name);
51 
52  virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const;
53  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
54  const Bounds& other_bounds) const;
56  const Bounds& other_bounds, const double* near,
57  const double distance) const;
58  virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const;
59  virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const;
60 
61  virtual void interpolate(const double* from, const double* to, const double t, double* state) const;
62  virtual unsigned int getStateSpaceDimension() const;
63  virtual double getMaximumExtent(const Bounds& other_bounds) const;
64  virtual double distance(const double* values1, const double* values2) const;
65 
66  virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const;
67  virtual void computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const;
68 
69  double getAngularDistanceWeight() const
70  {
72  }
73 
74  void setAngularDistanceWeight(double weight)
75  {
76  angular_distance_weight_ = weight;
77  }
78 
82  bool normalizeRotation(double* values) const;
83 
84 private:
86 };
87 }
88 }
89 
90 #endif
PlanarJointModel(const std::string &name)
double getMaximumExtent() const
Definition: joint_model.h:431
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 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 ...
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...
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
Definition: joint_model.h:108
void setAngularDistanceWeight(double weight)
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) ...
virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const
Given the joint values for a joint, compute the corresponding transform.
virtual unsigned int getStateSpaceDimension() const
Get the dimension of the state space that corresponds to this joint.
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 ...
Main namespace for MoveIt!
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123
bool normalizeRotation(double *values) const
virtual void computeVariablePositions(const Eigen::Affine3d &transf, double *joint_values) const
Given the transform generated by joint, compute the corresponding joint values.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 18 2018 02:48:31