moveit2
The MoveIt Motion Planning Framework for ROS 2.

A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multiDOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...
#include <joint_model.h>
Public Types  
enum  JointType { UNKNOWN , REVOLUTE , PRISMATIC , PLANAR , FLOATING , FIXED } 
The different types of joints we support. More...  
using  Bounds = std::vector< VariableBounds > 
The datatype for the joint bounds. More...  
Public Member Functions  
JointModel (const std::string &name, size_t joint_index, size_t first_variable_index)  
Constructs a joint named name. More...  
virtual  ~JointModel () 
const std::string &  getName () const 
Get the name of the joint. More...  
JointType  getType () const 
Get the type of joint. More...  
std::string  getTypeName () const 
Get the type of joint as a string. More...  
const LinkModel *  getParentLinkModel () const 
Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return nullptr here. More...  
const LinkModel *  getChildLinkModel () const 
Get the link that this joint connects to. There will always be such a link. More...  
void  setParentLinkModel (const LinkModel *link) 
void  setChildLinkModel (const LinkModel *link) 
virtual double  distance (const double *value1, const double *value2) const =0 
Compute the distance between two joint states of the same model (represented by the variable values) More...  
double  getDistanceFactor () const 
Get the factor that should be applied to the value returned by distance() when that value is used in compound distances. More...  
void  setDistanceFactor (double factor) 
Set the factor that should be applied to the value returned by distance() when that value is used in compound distances. More...  
virtual unsigned int  getStateSpaceDimension () const =0 
Get the dimension of the state space that corresponds to this joint. More...  
const JointModel *  getMimic () const 
Get the joint this one is mimicking. More...  
double  getMimicOffset () const 
If mimicking a joint, this is the offset added to that joint's value. More...  
double  getMimicFactor () const 
If mimicking a joint, this is the multiplicative factor for that joint's value. More...  
void  setMimic (const JointModel *mimic, double factor, double offset) 
Mark this joint as mimicking mimic using factor and offset. More...  
const std::vector< const JointModel * > &  getMimicRequests () const 
The joint models whose values would be modified if the value of this joint changed. More...  
void  addMimicRequest (const JointModel *joint) 
Notify this joint that there is another joint that mimics it. More...  
void  addDescendantJointModel (const JointModel *joint) 
void  addDescendantLinkModel (const LinkModel *link) 
const std::vector< const LinkModel * > &  getDescendantLinkModels () const 
Get all the link models that descend from this joint, in the kinematic tree. More...  
const std::vector< const JointModel * > &  getDescendantJointModels () const 
Get all the joint models that descend from this joint, in the kinematic tree. More...  
const std::vector< const JointModel * > &  getNonFixedDescendantJointModels () const 
Get all the nonfixed joint models that descend from this joint, in the kinematic tree. More...  
bool  isPassive () const 
Check if this joint is passive. More...  
void  setPassive (bool flag) 
virtual void  interpolate (const double *from, const double *to, const double t, double *state) const =0 
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. More...  
virtual double  getMaximumExtent (const Bounds &other_bounds) const =0 
Get the extent of the state space (the maximum value distance() can ever report) More...  
double  getMaximumExtent () const 
Reason about the variables that make up this joint  
const std::vector< std::string > &  getVariableNames () const 
Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multiDOF joints these will be the joint name followed by "/", followed by the local names of the variables. More...  
const std::vector< std::string > &  getLocalVariableNames () const 
Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty. More...  
bool  hasVariable (const std::string &variable) const 
Check if a particular variable is known to this joint. More...  
std::size_t  getVariableCount () const 
Get the number of variables that describe this joint. More...  
size_t  getFirstVariableIndex () const 
Get the index of this joint's first variable within the full robot state. More...  
size_t  getJointIndex () const 
Get the index of this joint within the robot model. More...  
size_t  getLocalVariableIndex (const std::string &variable) const 
Get the index of the variable within this joint. More...  
Functionality specific to computing state values  
void  getVariableDefaultPositions (double *values) const 
Provide a default value for the joint given the default joint variable bounds (maintained internally). 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. More...  
virtual void  getVariableDefaultPositions (double *values, const Bounds &other_bounds) const =0 
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. More...  
void  getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values) const 
Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated. More...  
virtual void  getVariableRandomPositions (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const =0 
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. More...  
void  getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const double *near, const double distance) const 
Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated. More...  
virtual void  getVariableRandomPositionsNearBy (random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const =0 
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated. More...  
Functionality specific to verifying bounds  
bool  satisfiesPositionBounds (const double *values, double margin=0.0) const 
Check if the set of values for the variables of this joint are within bounds. More...  
virtual bool  satisfiesPositionBounds (const double *values, const Bounds &other_bounds, double margin) const =0 
Check if the set of position values for the variables of this joint are within bounds, up to some margin. More...  
bool  enforcePositionBounds (double *values) const 
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between Pi and Pi. Returns true if changes were made. More...  
virtual bool  enforcePositionBounds (double *values, const Bounds &other_bounds) const =0 
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. More...  
virtual bool  harmonizePosition (double *values, const Bounds &other_bounds) const 
bool  harmonizePosition (double *values) const 
bool  satisfiesVelocityBounds (const double *values, double margin=0.0) const 
Check if the set of velocities for the variables of this joint are within bounds. More...  
virtual bool  satisfiesVelocityBounds (const double *values, const Bounds &other_bounds, double margin) const 
Check if the set of velocities for the variables of this joint are within bounds, up to some margin. More...  
bool  enforceVelocityBounds (double *values) const 
Force the specified velocities to be within bounds. Return true if changes were made. More...  
virtual bool  enforceVelocityBounds (double *values, const Bounds &other_bounds) const 
Force the specified velocities to be inside bounds. Return true if changes were made. More...  
const VariableBounds &  getVariableBounds (const std::string &variable) const 
Get the bounds for a variable. Throw an exception if the variable was not found. More...  
const Bounds &  getVariableBounds () const 
Get the variable bounds for this joint, in the same order as the names returned by getVariableNames() More...  
void  setVariableBounds (const std::string &variable, const VariableBounds &bounds) 
Set the lower and upper bounds for a variable. Throw an exception if the variable was not found. More...  
void  setVariableBounds (const std::vector< moveit_msgs::msg::JointLimits > &jlim) 
Override joint limits loaded from URDF. Unknown variables are ignored. More...  
const std::vector< moveit_msgs::msg::JointLimits > &  getVariableBoundsMsg () const 
Get the joint limits known to this model, as a message. More...  
Computing transforms  
virtual void  computeTransform (const double *joint_values, Eigen::Isometry3d &transf) const =0 
Given the joint values for a joint, compute the corresponding transform. The computed transform is guaranteed to be a valid isometry. More...  
virtual void  computeVariablePositions (const Eigen::Isometry3d &transform, double *joint_values) const =0 
Given the transform generated by joint, compute the corresponding joint values. Make sure the passed transform is a valid isometry. More...  
Protected Member Functions  
void  computeVariableBoundsMsg () 
Protected Attributes  
JointType  type_ 
The type of joint. More...  
std::vector< std::string >  local_variable_names_ 
The local names to use for the variables that make up this joint. More...  
std::vector< std::string >  variable_names_ 
The full names to use for the variables that make up this joint. More...  
Bounds  variable_bounds_ 
The bounds for each variable (low, high) in the same order as variable_names_. More...  
std::vector< moveit_msgs::msg::JointLimits >  variable_bounds_msg_ 
VariableIndexMap  variable_index_map_ 
Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only) More...  
const LinkModel *  parent_link_model_ 
The link before this joint. More...  
const LinkModel *  child_link_model_ 
The link after this joint. More...  
const JointModel *  mimic_ 
The joint this one mimics (nullptr for joints that do not mimic) More...  
double  mimic_factor_ 
The offset to the mimic joint. More...  
double  mimic_offset_ 
The multiplier to the mimic joint. More...  
std::vector< const JointModel * >  mimic_requests_ 
The set of joints that should get a value copied to them when this joint changes. More...  
std::vector< const LinkModel * >  descendant_link_models_ 
Pointers to all the links that will be moved if this joint changes value. More...  
std::vector< const JointModel * >  descendant_joint_models_ 
Pointers to all the joints that follow this one in the kinematic tree (including mimic joints) More...  
std::vector< const JointModel * >  non_fixed_descendant_joint_models_ 
Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints. More...  
bool  passive_ 
Specify whether this joint is marked as passive in the SRDF. More...  
double  distance_factor_ 
The factor applied to the distance between two joint states. More...  
A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multiDOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly.
Definition at line 116 of file joint_model.h.
using moveit::core::JointModel::Bounds = std::vector<VariableBounds> 
The datatype for the joint bounds.
Definition at line 131 of file joint_model.h.
The different types of joints we support.
Enumerator  

UNKNOWN  
REVOLUTE  
PRISMATIC  
PLANAR  
FLOATING  
FIXED 
Definition at line 120 of file joint_model.h.
moveit::core::JointModel::JointModel  (  const std::string &  name, 
size_t  joint_index,  
size_t  first_variable_index  
) 
Constructs a joint named name.
[in]  name  The joint name 
[in]  index  The index of the joint in the RobotModel 
[in]  first_variable_index  The index of the first variable in the RobotModel 
Definition at line 47 of file joint_model.cpp.

virtualdefault 
void moveit::core::JointModel::addDescendantJointModel  (  const JointModel *  joint  ) 
void moveit::core::JointModel::addDescendantLinkModel  (  const LinkModel *  link  ) 
Definition at line 211 of file joint_model.cpp.
void moveit::core::JointModel::addMimicRequest  (  const JointModel *  joint  ) 
Notify this joint that there is another joint that mimics it.
Definition at line 199 of file joint_model.cpp.

pure virtual 
Given the joint values for a joint, compute the corresponding transform. The computed transform is guaranteed to be a valid isometry.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

protected 

pure virtual 
Given the transform generated by joint, compute the corresponding joint values. Make sure the passed transform is a valid isometry.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

pure virtual 
Compute the distance between two joint states of the same model (represented by the variable values)
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous joints are made between Pi and Pi. Returns true if changes were made.
Definition at line 292 of file joint_model.h.

pure 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.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Force the specified velocities to be within bounds. Return true if changes were made.
Definition at line 320 of file joint_model.h.

virtual 
Force the specified velocities to be inside bounds. Return true if changes were made.
Definition at line 98 of file joint_model.cpp.

inline 
Get the link that this joint connects to. There will always be such a link.
Definition at line 168 of file joint_model.h.

inline 
Get all the joint models that descend from this joint, in the kinematic tree.
Definition at line 410 of file joint_model.h.

inline 
Get all the link models that descend from this joint, in the kinematic tree.
Definition at line 404 of file joint_model.h.

inline 
Get the factor that should be applied to the value returned by distance() when that value is used in compound distances.
Definition at line 356 of file joint_model.h.

inline 
Get the index of this joint's first variable within the full robot state.
Definition at line 216 of file joint_model.h.

inline 
Get the index of this joint within the robot model.
Definition at line 222 of file joint_model.h.
size_t moveit::core::JointModel::getLocalVariableIndex  (  const std::string &  variable  )  const 
Get the index of the variable within this joint.
Definition at line 85 of file joint_model.cpp.

inline 
Get the local names of the variable that make up the joint (suffixes that are attached to joint names to construct the variable names). For single DOF joints, this will be empty.
Definition at line 198 of file joint_model.h.

inline 
Definition at line 441 of file joint_model.h.

pure virtual 
Get the extent of the state space (the maximum value distance() can ever report)
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Get the joint this one is mimicking.
Definition at line 372 of file joint_model.h.

inline 
If mimicking a joint, this is the multiplicative factor for that joint's value.
Definition at line 384 of file joint_model.h.

inline 
If mimicking a joint, this is the offset added to that joint's value.
Definition at line 378 of file joint_model.h.

inline 
The joint models whose values would be modified if the value of this joint changed.
Definition at line 393 of file joint_model.h.

inline 
Get the name of the joint.
Definition at line 145 of file joint_model.h.

inline 
Get all the nonfixed joint models that descend from this joint, in the kinematic tree.
Definition at line 416 of file joint_model.h.

inline 
Get the link that this joint connects to. The robot is assumed to start with a joint, so the root joint will return nullptr here.
Definition at line 162 of file joint_model.h.

pure virtual 
Get the dimension of the state space that corresponds to this joint.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Get the type of joint.
Definition at line 151 of file joint_model.h.
std::string moveit::core::JointModel::getTypeName  (  )  const 
Get the type of joint as a string.
Definition at line 64 of file joint_model.cpp.

inline 
Get the variable bounds for this joint, in the same order as the names returned by getVariableNames()
Definition at line 332 of file joint_model.h.
const VariableBounds & moveit::core::JointModel::getVariableBounds  (  const std::string &  variable  )  const 
Get the bounds for a variable. Throw an exception if the variable was not found.
Definition at line 125 of file joint_model.cpp.

inline 
Get the joint limits known to this model, as a message.
Definition at line 344 of file joint_model.h.

inline 
Get the number of variables that describe this joint.
Definition at line 210 of file joint_model.h.

inline 
Provide a default value for the joint given the default joint variable bounds (maintained internally). 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.
Definition at line 238 of file joint_model.h.

pure 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.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Get the names of the variables that make up this joint, in the order they appear in corresponding states. For single DOF joints, this will be just the joint name. For multiDOF joints these will be the joint name followed by "/", followed by the local names of the variables.
Definition at line 190 of file joint_model.h.

inline 
Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.
Definition at line 250 of file joint_model.h.

pure virtual 
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

pure virtual 
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Provide random values for the joint variables (within default bounds). Enough memory is assumed to be allocated.
Definition at line 262 of file joint_model.h.

inline 

virtual 
Harmonize position of revolute joints, adding/subtracting multiples of 2*Pi to bring them back into bounds. Return true if changes were made.
Reimplemented in moveit::core::RevoluteJointModel.
Definition at line 93 of file joint_model.cpp.

inline 
Check if a particular variable is known to this joint.
Definition at line 204 of file joint_model.h.

pure 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.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Check if this joint is passive.
Definition at line 422 of file joint_model.h.

pure virtual 
Check if the set of position values for the variables of this joint are within bounds, up to some margin.
Implemented in moveit::core::RevoluteJointModel, moveit::core::PrismaticJointModel, moveit::core::PlanarJointModel, moveit::core::FloatingJointModel, and moveit::core::FixedJointModel.

inline 
Check if the set of values for the variables of this joint are within bounds.
Definition at line 280 of file joint_model.h.

virtual 
Check if the set of velocities for the variables of this joint are within bounds, up to some margin.
Definition at line 115 of file joint_model.cpp.

inline 
Check if the set of velocities for the variables of this joint are within bounds.
Definition at line 311 of file joint_model.h.

inline 
Definition at line 178 of file joint_model.h.

inline 
Set the factor that should be applied to the value returned by distance() when that value is used in compound distances.
Definition at line 363 of file joint_model.h.
void moveit::core::JointModel::setMimic  (  const JointModel *  mimic, 
double  factor,  
double  offset  
) 
Mark this joint as mimicking mimic using factor and offset.
Definition at line 192 of file joint_model.cpp.

inline 
Definition at line 173 of file joint_model.h.

inline 
Definition at line 427 of file joint_model.h.
void moveit::core::JointModel::setVariableBounds  (  const std::string &  variable, 
const VariableBounds &  bounds  
) 
Set the lower and upper bounds for a variable. Throw an exception if the variable was not found.
Definition at line 130 of file joint_model.cpp.
void moveit::core::JointModel::setVariableBounds  (  const std::vector< moveit_msgs::msg::JointLimits > &  jlim  ) 
Override joint limits loaded from URDF. Unknown variables are ignored.
Definition at line 136 of file joint_model.cpp.

protected 
The link after this joint.
Definition at line 494 of file joint_model.h.

protected 
Pointers to all the joints that follow this one in the kinematic tree (including mimic joints)
Definition at line 512 of file joint_model.h.

protected 
Pointers to all the links that will be moved if this joint changes value.
Definition at line 509 of file joint_model.h.

protected 
The factor applied to the distance between two joint states.
Definition at line 522 of file joint_model.h.

protected 
The local names to use for the variables that make up this joint.
Definition at line 476 of file joint_model.h.

protected 
The joint this one mimics (nullptr for joints that do not mimic)
Definition at line 497 of file joint_model.h.

protected 
The offset to the mimic joint.
Definition at line 500 of file joint_model.h.

protected 
The multiplier to the mimic joint.
Definition at line 503 of file joint_model.h.

protected 
The set of joints that should get a value copied to them when this joint changes.
Definition at line 506 of file joint_model.h.

protected 
Pointers to all the joints that follow this one in the kinematic tree, including mimic joints, but excluding fixed joints.
Definition at line 516 of file joint_model.h.

protected 
The link before this joint.
Definition at line 491 of file joint_model.h.

protected 
Specify whether this joint is marked as passive in the SRDF.
Definition at line 519 of file joint_model.h.

protected 
The type of joint.
Definition at line 473 of file joint_model.h.

protected 
The bounds for each variable (low, high) in the same order as variable_names_.
Definition at line 482 of file joint_model.h.

protected 
Definition at line 484 of file joint_model.h.

protected 
Map from variable names to the corresponding index in variable_names_ (indexing makes sense within the JointModel only)
Definition at line 488 of file joint_model.h.

protected 
The full names to use for the variables that make up this joint.
Definition at line 479 of file joint_model.h.