floating_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_
38 #define MOVEIT_CORE_ROBOT_MODEL_FLOATING_JOINT_MODEL_
39 
41 
42 namespace moveit
43 {
44 namespace core
45 {
48 {
49 public:
50  FloatingJointModel(const std::string& name);
51 
52  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
54  const Bounds& other_bounds) const override;
56  const Bounds& other_bounds, const double* near,
57  const double distance) const override;
58  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
59  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
60 
61  void interpolate(const double* from, const double* to, const double t, double* state) const override;
62  unsigned int getStateSpaceDimension() const override;
63  double getMaximumExtent(const Bounds& other_bounds) const override;
64  double distance(const double* values1, const double* values2) const override;
65 
66  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
67  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
68 
69  double getAngularDistanceWeight() const
70  {
72  }
73 
74  void setAngularDistanceWeight(double weight)
75  {
76  angular_distance_weight_ = weight;
77  }
78 
81  bool normalizeRotation(double* values) const;
82 
84  double distanceRotation(const double* values1, const double* values2) const;
85 
87  double distanceTranslation(const double* values1, const double* values2) const;
88 
89 private:
91 };
92 }
93 }
94 
95 #endif
bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const override
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
std::vector< double > values
void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const override
Provide a default value for the joint given the joint variable bounds. Most joints will use the defau...
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
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.
FloatingJointModel(const std::string &name)
geometry_msgs::TransformStamped t
void interpolate(const double *from, const double *to, const double t, double *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
double distanceRotation(const double *values1, const double *values2) const
Get the distance between the rotation components of two states.
double distance(const double *values1, const double *values2) const override
Compute the distance between two joint states of the same model (represented by the variable values) ...
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform.
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)
void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values.
Main namespace for MoveIt!
double getMaximumExtent() const
Definition: joint_model.h:439
bool normalizeRotation(double *values) const
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:123
double distanceTranslation(const double *values1, const double *values2) const
Get the distance between the translation components of two states.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Dec 2 2019 03:56:58