robot_model::FloatingJointModel Class Reference

A floating joint. More...

`#include <floating_joint_model.h>`

Inheritance diagram for robot_model::FloatingJointModel: [legend]

List of all members.

## Public Member Functions

virtual void computeJointStateValues (const Eigen::Affine3d &transf, std::vector< double > &joint_values) const
Given the transform generated by joint, compute the corresponding joint values.
virtual void computeTransform (const std::vector< double > &joint_values, Eigen::Affine3d &transf) const
Given the joint values for a joint, compute the corresponding transform.
virtual double distance (const std::vector< double > &values1, const std::vector< double > &values2) const
Compute the distance between two joint states of the same model (represented by the variable values)
double distanceRotation (const std::vector< double > &values1, const std::vector< double > &values2) const
double distanceTranslation (const std::vector< double > &values1, const std::vector< double > &values2) const
virtual void enforceBounds (std::vector< 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.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW FloatingJointModel (const std::string &name)
double getAngularDistanceWeight () const
virtual double getMaximumExtent (const Bounds &other_bounds) const
Get the extent of the state space (the maximum value distance() can ever report)
virtual unsigned int getStateSpaceDimension () const
Get the dimension of the state space that corresponds to this joint.
virtual void getVariableDefaultValues (std::vector< double > &values, const Bounds &other_bounds) const
Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. The vector is NOT cleared; elements are only added with push_back.
virtual void getVariableRandomValues (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const Bounds &other_bounds) const
Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.
virtual void getVariableRandomValuesNearBy (random_numbers::RandomNumberGenerator &rng, std::vector< double > &values, const Bounds &other_bounds, const std::vector< double > &near, const double distance) const
Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.
virtual void interpolate (const std::vector< double > &from, const std::vector< double > &to, const double t, std::vector< double > &state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
bool normalizeRotation (std::vector< double > &values) const
virtual bool satisfiesBounds (const std::vector< double > &values, const Bounds &other_bounds, double margin) const
Check if the set of values for the variables of this joint are within bounds, up to some margin.
void setAngularDistanceWeight (double weight)
virtual void updateTransform (const std::vector< double > &joint_values, Eigen::Affine3d &transf) const
Update a transform so that it corresponds to the new joint values assuming that transf was previously set to identity and that only calls to updateTransform() were issued afterwards.

## Private Attributes

double angular_distance_weight_

class RobotModel

## Detailed Description

A floating joint.

Definition at line 46 of file floating_joint_model.h.

## Constructor & Destructor Documentation

 robot_model::FloatingJointModel::FloatingJointModel ( const std::string & name )

Definition at line 42 of file floating_joint_model.cpp.

## Member Function Documentation

 void robot_model::FloatingJointModel::computeJointStateValues ( const Eigen::Affine3d & transform, std::vector< double > & joint_values ) const` [virtual]`

Given the transform generated by joint, compute the corresponding joint values.

Implements robot_model::JointModel.

Definition at line 210 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::computeTransform ( const std::vector< double > & joint_values, Eigen::Affine3d & transf ) const` [virtual]`

Given the joint values for a joint, compute the corresponding transform.

Implements robot_model::JointModel.

Definition at line 199 of file floating_joint_model.cpp.

 double robot_model::FloatingJointModel::distance ( const std::vector< double > & values1, const std::vector< double > & values2 ) const` [virtual]`

Compute the distance between two joint states of the same model (represented by the variable values)

Implements robot_model::JointModel.

Definition at line 72 of file floating_joint_model.cpp.

 double robot_model::FloatingJointModel::distanceRotation ( const std::vector< double > & values1, const std::vector< double > & values2 ) const

Definition at line 96 of file floating_joint_model.cpp.

 double robot_model::FloatingJointModel::distanceTranslation ( const std::vector< double > & values1, const std::vector< double > & values2 ) const

Definition at line 86 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::enforceBounds ( std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between -Pi and Pi.

Implements robot_model::JointModel.

Definition at line 185 of file floating_joint_model.cpp.

 double robot_model::FloatingJointModel::getAngularDistanceWeight ( ) const` [inline]`

Definition at line 68 of file floating_joint_model.h.

 double robot_model::FloatingJointModel::getMaximumExtent ( const Bounds & other_bounds ) const` [virtual]`

Get the extent of the state space (the maximum value distance() can ever report)

Implements robot_model::JointModel.

Definition at line 64 of file floating_joint_model.cpp.

 unsigned int robot_model::FloatingJointModel::getStateSpaceDimension ( ) const` [virtual]`

Get the dimension of the state space that corresponds to this joint.

Implements robot_model::JointModel.

Definition at line 180 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::getVariableDefaultValues ( std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Provide a default value for the joint given the joint variable bounds. Most joints will use the default implementation provided in this base class, but the quaternion for example needs a different implementation. The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 223 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::getVariableRandomValues ( random_numbers::RandomNumberGenerator & rng, std::vector< double > & values, const Bounds & other_bounds ) const` [virtual]`

Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 241 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::getVariableRandomValuesNearBy ( random_numbers::RandomNumberGenerator & rng, std::vector< double > & values, const Bounds & other_bounds, const std::vector< double > & near, const double distance ) const` [virtual]`

Provide random values for the joint variables (within specified bounds). The vector is NOT cleared; elements are only added with push_back.

Implements robot_model::JointModel.

Definition at line 266 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::interpolate ( const std::vector< double > & from, const std::vector< double > & to, const double t, std::vector< double > & state ) const` [virtual]`

Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

Implements robot_model::JointModel.

Definition at line 106 of file floating_joint_model.cpp.

 bool robot_model::FloatingJointModel::normalizeRotation ( std::vector< double > & values ) const

Normalize the quaternion (warn if norm is 0, and set to identity); Return true if any change was made

Definition at line 152 of file floating_joint_model.cpp.

 bool robot_model::FloatingJointModel::satisfiesBounds ( const std::vector< double > & values, const Bounds & other_bounds, double margin ) const` [virtual]`

Check if the set of values for the variables of this joint are within bounds, up to some margin.

Implements robot_model::JointModel.

Definition at line 136 of file floating_joint_model.cpp.

 void robot_model::FloatingJointModel::setAngularDistanceWeight ( double weight ) ` [inline]`

Definition at line 73 of file floating_joint_model.h.

 void robot_model::FloatingJointModel::updateTransform ( const std::vector< double > & joint_values, Eigen::Affine3d & transf ) const` [virtual]`

Update a transform so that it corresponds to the new joint values assuming that transf was previously set to identity and that only calls to updateTransform() were issued afterwards.

Implements robot_model::JointModel.

Definition at line 204 of file floating_joint_model.cpp.

## Friends And Related Function Documentation

 friend class RobotModel` [friend]`

Reimplemented from robot_model::JointModel.

Definition at line 48 of file floating_joint_model.h.

## Member Data Documentation

 double robot_model::FloatingJointModel::angular_distance_weight_` [private]`

Definition at line 88 of file floating_joint_model.h.

The documentation for this class was generated from the following files:

moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:48