joint_model.h File Reference

#include <string>
#include <vector>
#include <map>
#include <iostream>
#include <moveit_msgs/msg/joint_limits.hpp>
#include <random_numbers/random_numbers.h>
#include <Eigen/Geometry>

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Classes
struct	moveit::core::VariableBounds
class	moveit::core::JointModel
	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 multi-DOF 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...

Namespaces
	moveit
	Main namespace for MoveIt.
	moveit::core
	Core components of MoveIt.

Typedefs
typedef std::map< std::string, size_t >	moveit::core::VariableIndexMap
	Data type for holding mappings from variable names to their position in a state vector. More...
using	moveit::core::VariableBoundsMap = std::map< std::string, VariableBounds >
	Data type for holding mappings from variable names to their bounds. More...
using	moveit::core::JointModelMap = std::map< std::string, JointModel * >
	Map of names to instances for JointModel. More...
using	moveit::core::JointModelMapConst = std::map< std::string, const JointModel * >
	Map of names to const instances for JointModel. More...

Functions
std::ostream &	moveit::core::operator<< (std::ostream &out, const VariableBounds &b)
	Operator overload for printing variable bounds to a stream. More...