prismatic_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
38 #define MOVEIT_CORE_ROBOT_MODEL_PRISMATIC_JOINT_MODEL_
39 
41 
42 namespace moveit
43 {
44 namespace core
45 {
48 {
49 public:
51 
52  PrismaticJointModel(const std::string& name);
53 
54  virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const;
55  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
56  const Bounds& other_bounds) const;
58  const Bounds& other_bounds, const double* near,
59  const double distance) const;
60  virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const;
61  virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const;
62 
63  virtual void interpolate(const double* from, const double* to, const double t, double* state) const;
64  virtual unsigned int getStateSpaceDimension() const;
65  virtual double getMaximumExtent(const Bounds& other_bounds) const;
66  virtual double distance(const double* values1, const double* values2) const;
67 
68  virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const;
69  virtual void computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const;
70 
72  const Eigen::Vector3d& getAxis() const
73  {
74  return axis_;
75  }
76 
78  void setAxis(const Eigen::Vector3d& axis)
79  {
80  axis_ = axis;
81  }
82 
83 protected:
85  Eigen::Vector3d axis_;
86 };
87 }
88 }
89 
90 #endif
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 void computeVariablePositions(const Eigen::Affine3d &transf, double *joint_values) const
Given the transform generated by joint, compute the corresponding joint values.
void setAxis(const Eigen::Vector3d &axis)
Set the axis of translation.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PrismaticJointModel(const std::string &name)
double getMaximumExtent() const
Definition: joint_model.h:431
Eigen::Vector3d axis_
The axis of the joint.
virtual unsigned int getStateSpaceDimension() const
Get the dimension of the state space that corresponds to this joint.
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 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 ...
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
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 ...
A joint from the robot. Models the transform that this joint applies in the kinematic chain...
Definition: joint_model.h:108
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 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 void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const
Given the joint values for a joint, compute the corresponding transform.
Main namespace for MoveIt!
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123
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) ...
const Eigen::Vector3d & getAxis() const
Get the axis of translation.


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