37 #ifndef MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_ 38 #define MOVEIT_CORE_ROBOT_MODEL_FIXED_JOINT_MODEL_ 54 const Bounds& other_bounds)
const;
56 const Bounds& other_bounds,
const double* near,
61 virtual void interpolate(
const double* from,
const double* to,
const double t,
double* state)
const;
64 virtual double distance(
const double* values1,
const double* values2)
const;
66 virtual void computeTransform(
const double* joint_values, Eigen::Affine3d& transf)
const;
virtual unsigned int getStateSpaceDimension() const
Get the dimension of the state space that corresponds to this joint.
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
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...
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.