moveit2
The MoveIt Motion Planning Framework for ROS 2.
floating_joint_model.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 
41 namespace moveit
42 {
43 namespace core
44 {
47 {
48 public:
49  FloatingJointModel(const std::string& name, size_t joint_index, size_t first_variable_index);
50 
51  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
52  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
53  const Bounds& other_bounds) const override;
54  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
55  const Bounds& other_bounds, const double* near,
56  const double distance) const override;
57  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
58  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
59 
60  void interpolate(const double* from, const double* to, const double t, double* state) const override;
61  unsigned int getStateSpaceDimension() const override;
62  double getMaximumExtent(const Bounds& other_bounds) const override;
63  double distance(const double* values1, const double* values2) const override;
64 
65  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
66  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
67 
68  double getAngularDistanceWeight() const
69  {
70  return angular_distance_weight_;
71  }
72 
73  void setAngularDistanceWeight(double weight)
74  {
75  angular_distance_weight_ = weight;
76  }
77 
80  bool normalizeRotation(double* values) const;
81 
83  double distanceRotation(const double* values1, const double* values2) const;
84 
86  double distanceTranslation(const double* values1, const double* values2) const;
87 
88 private:
89  double angular_distance_weight_;
90 };
91 } // namespace core
92 } // namespace moveit
double distanceRotation(const double *values1, const double *values2) const
Get the distance between the rotation components of two states.
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 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....
bool normalizeRotation(double *values) const
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...
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 ...
void setAngularDistanceWeight(double weight)
bool enforcePositionBounds(double *values, const Bounds &other_bounds) const override
Force the specified values to be inside bounds and normalized. Quaternions are normalized,...
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 getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds, const double *near, const double distance) const override
Provide random values for the joint variables (within specified bounds). Enough memory is assumed to ...
double distanceTranslation(const double *values1, const double *values2) const
Get the distance between the translation components of two states.
FloatingJointModel(const std::string &name, size_t joint_index, size_t first_variable_index)
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.
A joint from the robot. Models the transform that this joint applies in the kinematic chain....
Definition: joint_model.h:117
std::vector< VariableBounds > Bounds
The datatype for the joint bounds.
Definition: joint_model.h:131
double getMaximumExtent() const
Definition: joint_model.h:441
Main namespace for MoveIt.
Definition: exceptions.h:43
name
Definition: setup.py:7