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46 class FloatingJointModel :
public JointModel
53 const Bounds& other_bounds)
const override;
55 const Bounds& other_bounds,
const double* seed,
56 const double distance)
const override;
60 void interpolate(
const double* from,
const double* to,
const double t,
double* state)
const override;
63 double distance(
const double* values1,
const double* values2)
const override;
65 void computeTransform(
const double* joint_values, Eigen::Isometry3d& transf)
const override;
double distanceTranslation(const double *values1, const double *values2) const
Get the distance between the translation components of two states.
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 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 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...
double distanceRotation(const double *values1, const double *values2) const
Get the distance between the rotation components of two states.
double getMaximumExtent() const
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
FloatingJointModel(const std::string &name)
bool normalizeRotation(double *values) const
double angular_distance_weight_
void setAngularDistanceWeight(double weight)
void computeTransform(const double *joint_values, Eigen::Isometry3d &transf) const override
Given the joint values for a joint, compute the corresponding transform. The computed transform is gu...
unsigned int getStateSpaceDimension() const override
Get the dimension of the state space that corresponds to this joint.
Main namespace for MoveIt.
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized,...
void computeVariablePositions(const Eigen::Isometry3d &transf, double *joint_values) const override
Given the transform generated by joint, compute the corresponding joint values. Make sure the passed ...
void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *seed, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
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,...
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 ...
double getAngularDistanceWeight() const
moveit_core
Author(s): Ioan Sucan
, Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 21 2024 03:23:41