planar_joint_model.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/robot_model/joint_model.h>
 
namespace moveit
{
namespace core
{
class PlanarJointModel : public JointModel
{
public:
  enum MotionModel
  {
    HOLONOMIC,  // default
    DIFF_DRIVE
  };
 
  PlanarJointModel(const std::string& name, size_t joint_index, size_t first_variable_index);
 
  void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const override;
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                  const Bounds& other_bounds) const override;
  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                        const Bounds& other_bounds, const double* near,
                                        const double distance) const override;
  bool enforcePositionBounds(double* values, const Bounds& other_bounds) const override;
  bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const override;
 
  void interpolate(const double* from, const double* to, const double t, double* state) const override;
  unsigned int getStateSpaceDimension() const override;
  double getMaximumExtent(const Bounds& other_bounds) const override;
  double distance(const double* values1, const double* values2) const override;
 
  void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const override;
  void computeVariablePositions(const Eigen::Isometry3d& transf, double* joint_values) const override;
 
  double getAngularDistanceWeight() const
  {
    return angular_distance_weight_;
  }
 
  void setAngularDistanceWeight(double weight)
  {
    angular_distance_weight_ = weight;
  }
 
  double getMinTranslationalDistance() const
  {
    return min_translational_distance_;
  }
 
  void setMinTranslationalDistance(double min_translational_distance)
  {
    min_translational_distance_ = min_translational_distance;
  }
 
  MotionModel getMotionModel() const
  {
    return motion_model_;
  }
 
  void setMotionModel(MotionModel model)
  {
    motion_model_ = model;
  }
 
  bool normalizeRotation(double* values) const;
 
private:
  double angular_distance_weight_;
  MotionModel motion_model_;
  double min_translational_distance_;
};
 
void computeTurnDriveTurnGeometry(const double* from, const double* to, const double min_translational_distance,
                                  double& dx, double& dy, double& initial_turn, double& drive_angle,
                                  double& final_turn);
}  // namespace core
}  // namespace moveit