fixed_joint_model.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
39 namespace moveit
40 {
41 namespace core
42 {
43 FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
44 {
45  type_ = FIXED;
46 }
47 
48 unsigned int FixedJointModel::getStateSpaceDimension() const
49 {
50  return 0;
51 }
52 
53 void FixedJointModel::getVariableDefaultPositions(double* /*values*/, const Bounds& /*bounds*/) const
54 {
55 }
56 
57 void FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& /*rng*/, double* /*values*/,
58  const Bounds& /*bounds*/) const
59 {
60 }
61 
62 void FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& /*rng*/,
63  double* /*values*/, const Bounds& /*bounds*/,
64  const double* /*seed*/, const double /*distance*/) const
65 {
66 }
67 
68 bool FixedJointModel::enforcePositionBounds(double* /*values*/, const Bounds& /*bounds*/) const
69 {
70  return false;
71 }
72 
73 bool FixedJointModel::satisfiesPositionBounds(const double* /*values*/, const Bounds& /*bounds*/,
74  double /*margin*/) const
75 {
76  return true;
77 }
78 
79 double FixedJointModel::distance(const double* /*values1*/, const double* /*values2*/) const
80 {
81  return 0.0;
82 }
83 
84 double FixedJointModel::getMaximumExtent(const Bounds& /*other_bounds*/) const
85 {
86  return 0.0;
87 }
88 
89 void FixedJointModel::interpolate(const double* /*from*/, const double* /*to*/, const double /*t*/,
90  double* /*state*/) const
91 {
92 }
93 
94 void FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Isometry3d& transf) const
95 {
96  transf.setIdentity();
97 }
98 
99 void FixedJointModel::computeVariablePositions(const Eigen::Isometry3d& /* transform */,
100  double* /* joint_values */) const
101 {
102 }
103 
104 } // end of namespace core
105 } // end of namespace moveit
fixed_joint_model.h
name
std::string name
random_numbers::RandomNumberGenerator
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
moveit::core::FixedJointModel::FixedJointModel
FixedJointModel(const std::string &name)
Definition: fixed_joint_model.cpp:107
pr2_arm_kinematics::distance
double distance(const urdf::Pose &transform)
Definition: pr2_arm_ik.h:86


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Dec 3 2021 03:23:21