#include <fixed_joint_model.h>
Public Member Functions | |
virtual void | computeTransform (const double *joint_values, Eigen::Affine3d &transf) const |
Given the joint values for a joint, compute the corresponding transform. | |
virtual void | computeVariablePositions (const Eigen::Affine3d &transf, double *joint_values) const |
Given the transform generated by joint, compute the corresponding joint values. | |
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 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. | |
FixedJointModel (const std::string &name) | |
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 | 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 default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated. | |
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 be allocated. | |
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 be allocated. | |
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. The memory location of state is not required to be different from the memory of either from or to. | |
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. |
A fixed joint.
Definition at line 47 of file fixed_joint_model.h.
moveit::core::FixedJointModel::FixedJointModel | ( | const std::string & | name | ) |
Definition at line 39 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::computeTransform | ( | const double * | joint_values, |
Eigen::Affine3d & | transf | ||
) | const [virtual] |
Given the joint values for a joint, compute the corresponding transform.
Implements moveit::core::JointModel.
Definition at line 90 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::computeVariablePositions | ( | const Eigen::Affine3d & | transform, |
double * | joint_values | ||
) | const [virtual] |
Given the transform generated by joint, compute the corresponding joint values.
Implements moveit::core::JointModel.
Definition at line 95 of file fixed_joint_model.cpp.
double moveit::core::FixedJointModel::distance | ( | const double * | value1, |
const double * | value2 | ||
) | const [virtual] |
Compute the distance between two joint states of the same model (represented by the variable values)
Implements moveit::core::JointModel.
Definition at line 75 of file fixed_joint_model.cpp.
bool moveit::core::FixedJointModel::enforcePositionBounds | ( | 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. Return true if changes were made.
Implements moveit::core::JointModel.
Definition at line 64 of file fixed_joint_model.cpp.
double moveit::core::FixedJointModel::getMaximumExtent | ( | const Bounds & | other_bounds | ) | const [virtual] |
Get the extent of the state space (the maximum value distance() can ever report)
Implements moveit::core::JointModel.
Definition at line 80 of file fixed_joint_model.cpp.
unsigned int moveit::core::FixedJointModel::getStateSpaceDimension | ( | ) | const [virtual] |
Get the dimension of the state space that corresponds to this joint.
Implements moveit::core::JointModel.
Definition at line 44 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::getVariableDefaultPositions | ( | 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. Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 49 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::getVariableRandomPositions | ( | random_numbers::RandomNumberGenerator & | rng, |
double * | values, | ||
const Bounds & | other_bounds | ||
) | const [virtual] |
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 53 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::getVariableRandomPositionsNearBy | ( | random_numbers::RandomNumberGenerator & | rng, |
double * | values, | ||
const Bounds & | other_bounds, | ||
const double * | near, | ||
const double | distance | ||
) | const [virtual] |
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implements moveit::core::JointModel.
Definition at line 58 of file fixed_joint_model.cpp.
void moveit::core::FixedJointModel::interpolate | ( | const double * | from, |
const double * | to, | ||
const double | t, | ||
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 moveit::core::JointModel.
Definition at line 85 of file fixed_joint_model.cpp.
bool moveit::core::FixedJointModel::satisfiesPositionBounds | ( | const double * | values, |
const Bounds & | other_bounds, | ||
double | margin | ||
) | const [virtual] |
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
Implements moveit::core::JointModel.
Definition at line 69 of file fixed_joint_model.cpp.