A revolute joint. More...

#include <revolute_joint_model.h>

Inheritance diagram for moveit::core::RevoluteJointModel:

Collaboration diagram for moveit::core::RevoluteJointModel:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RevoluteJointModel (const std::string &name, size_t joint_index, size_t first_variable_index)

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 default implementation provided in this base class, but the quaternion for example needs a different implementation. Enough memory is assumed to be allocated.

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 be allocated.

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 be allocated.

bool	enforcePositionBounds (double *values, const Bounds &other_bounds) const override
	Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Return true if changes were made.

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, up to some margin.

bool	harmonizePosition (double *values, const Bounds &other_bounds) const override

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. The memory location of state is not required to be different from the memory of either from or to.

unsigned int	getStateSpaceDimension () const override
	Get the dimension of the state space that corresponds to this joint.

double	getMaximumExtent (const Bounds &other_bounds) const override
	Get the extent of the state space (the maximum value distance() can ever report)

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	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 guaranteed to be a valid isometry.

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 transform is a valid isometry.

void	setContinuous (bool flag)

bool	isContinuous () const
	Check if this joint wraps around.

const Eigen::Vector3d &	getAxis () const
	Get the axis of rotation.

void	setAxis (const Eigen::Vector3d &axis)
	Set the axis of rotation.

Public Member Functions inherited from moveit::core::JointModel
	JointModel (const std::string &name, size_t joint_index, size_t first_variable_index)
	Constructs a joint named name.

virtual	~JointModel ()

const std::string &	getName () const
	Get the name of the joint.

JointType	getType () const
	Get the type of joint.

std::string	getTypeName () const
	Get the type of joint as a string.

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.

const LinkModel *	getChildLinkModel () const
	Get the link that this joint connects to. There will always be such a link.

void	setParentLinkModel (const LinkModel *link)

void	setChildLinkModel (const LinkModel *link)

double	getDistanceFactor () const
	Get the factor that should be applied to the value returned by distance() when that value is used in compound distances.

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.

const JointModel *	getMimic () const
	Get the joint this one is mimicking.

double	getMimicOffset () const
	If mimicking a joint, this is the offset added to that joint's value.

double	getMimicFactor () const
	If mimicking a joint, this is the multiplicative factor for that joint's value.

void	setMimic (const JointModel *mimic, double factor, double offset)
	Mark this joint as mimicking mimic using factor and offset.

const std::vector< const JointModel * > &	getMimicRequests () const
	The joint models whose values would be modified if the value of this joint changed.

void	addMimicRequest (const JointModel *joint)
	Notify this joint that there is another joint that mimics it.

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.

const std::vector< const JointModel * > &	getDescendantJointModels () const
	Get all the joint models that descend from this joint, in the kinematic tree.

const std::vector< const JointModel * > &	getNonFixedDescendantJointModels () const
	Get all the non-fixed joint models that descend from this joint, in the kinematic tree.

bool	isPassive () const
	Check if this joint is passive.

void	setPassive (bool flag)

double	getMaximumExtent () const

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 multi-DOF joints these will be the joint name followed by "/", followed by the local names of the variables.

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.

bool	hasVariable (const std::string &variable) const
	Check if a particular variable is known to this joint.

std::size_t	getVariableCount () const
	Get the number of variables that describe this joint.

size_t	getFirstVariableIndex () const
	Get the index of this joint's first variable within the full robot state.

size_t	getJointIndex () const
	Get the index of this joint within the robot model.

size_t	getLocalVariableIndex (const std::string &variable) const
	Get the index of the variable within this joint.

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.

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.

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.

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.

bool	enforcePositionBounds (double *values) const
	Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Returns true if changes were made.

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.

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.

bool	enforceVelocityBounds (double *values) const
	Force the specified velocities to be within bounds. Return true if changes were made.

virtual bool	enforceVelocityBounds (double *values, const Bounds &other_bounds) const
	Force the specified velocities to be inside bounds. Return true if changes were made.

bool	satisfiesAccelerationBounds (const double *values, double margin=0.0) const
	Check if the set of accelerations for the variables of this joint are within bounds.

virtual bool	satisfiesAccelerationBounds (const double *values, const Bounds &other_bounds, double margin) const
	Check if the set of accelerations for the variables of this joint are within bounds, up to some margin.

bool	satisfiesJerkBounds (const double *values, double margin=0.0) const
	Check if the set of jerks for the variables of this joint are within bounds.

virtual bool	satisfiesJerkBounds (const double *values, const Bounds &other_bounds, double margin) const
	Check if the set of jerks for the variables of this joint are within bounds, up to some margin.

const VariableBounds &	getVariableBounds (const std::string &variable) const
	Get the bounds for a variable. Throw an exception if the variable was not found.

const Bounds &	getVariableBounds () const
	Get the variable bounds for this joint, in the same order as the names returned by getVariableNames()

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.

void	setVariableBounds (const std::vector< moveit_msgs::msg::JointLimits > &jlim)
	Override joint limits loaded from URDF. Unknown variables are ignored.

const std::vector< moveit_msgs::msg::JointLimits > &	getVariableBoundsMsg () const
	Get the joint limits known to this model, as a message.

Protected Attributes
Eigen::Vector3d	axis_
	The axis of the joint.

bool	continuous_
	Flag indicating whether this joint wraps around.

Protected Attributes inherited from moveit::core::JointModel
JointType	type_
	The type of joint.

std::vector< std::string >	local_variable_names_
	The local names to use for the variables that make up this joint.

std::vector< std::string >	variable_names_
	The full names to use for the variables that make up this joint.

Bounds	variable_bounds_
	The bounds for each variable (low, high) in the same order as variable_names_.

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)

const LinkModel *	parent_link_model_
	The link before this joint.

const LinkModel *	child_link_model_
	The link after this joint.

const JointModel *	mimic_
	The joint this one mimics (nullptr for joints that do not mimic)

double	mimic_factor_
	The multiplier to the mimic joint.

double	mimic_offset_
	The offset to the mimic joint.

std::vector< const JointModel * >	mimic_requests_
	The set of joints that should get a value copied to them when this joint changes.

std::vector< const LinkModel * >	descendant_link_models_
	Pointers to all the links that will be moved if this joint changes value.

std::vector< const JointModel * >	descendant_joint_models_
	Pointers to all the joints that follow this one in the kinematic tree (including mimic joints)

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.

bool	passive_
	Specify whether this joint is marked as passive in the SRDF.

double	distance_factor_
	The factor applied to the distance between two joint states.

Additional Inherited Members
Public Types inherited from moveit::core::JointModel
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.

Protected Member Functions inherited from moveit::core::JointModel
void	computeVariableBoundsMsg ()

Detailed Description

A revolute joint.

Definition at line 46 of file revolute_joint_model.h.

Constructor & Destructor Documentation

◆ RevoluteJointModel()

moveit::core::RevoluteJointModel::RevoluteJointModel	(	const std::string &	name,
		size_t	joint_index,
		size_t	first_variable_index
	)

Definition at line 47 of file revolute_joint_model.cpp.

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Member Function Documentation

◆ computeTransform()

void moveit::core::RevoluteJointModel::computeTransform	(	const double *	joint_values,
		Eigen::Isometry3d &	transf
	)		const

overridevirtual

Given the joint values for a joint, compute the corresponding transform. The computed transform is guaranteed to be a valid isometry.

Implements moveit::core::JointModel.

Definition at line 250 of file revolute_joint_model.cpp.

◆ computeVariablePositions()

void moveit::core::RevoluteJointModel::computeVariablePositions	(	const Eigen::Isometry3d &	transform,
		double *	joint_values
	)		const

overridevirtual

Given the transform generated by joint, compute the corresponding joint values. Make sure the passed transform is a valid isometry.

Implements moveit::core::JointModel.

Definition at line 289 of file revolute_joint_model.cpp.

◆ distance()

double moveit::core::RevoluteJointModel::distance	(	const double *	value1,
		const double *	value2
	)		const

overridevirtual

Compute the distance between two joint states of the same model (represented by the variable values)

Implements moveit::core::JointModel.

Definition at line 173 of file revolute_joint_model.cpp.

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◆ enforcePositionBounds()

bool moveit::core::RevoluteJointModel::enforcePositionBounds	(	double *	values,
		const Bounds &	other_bounds
	)		const

overridevirtual

Force the specified values to be inside bounds and normalized. Quaternions are normalized, continuous revolute joints are made between -Pi and Pi. Return true if changes were made.

Implements moveit::core::JointModel.

Definition at line 218 of file revolute_joint_model.cpp.

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◆ getAxis()

const Eigen::Vector3d & moveit::core::RevoluteJointModel::getAxis ( ) const

inline

Get the axis of rotation.

Definition at line 79 of file revolute_joint_model.h.

◆ getMaximumExtent()

double moveit::core::RevoluteJointModel::getMaximumExtent ( const Bounds & other_bounds ) const

overridevirtual

Get the extent of the state space (the maximum value distance() can ever report)

Implements moveit::core::JointModel.

Definition at line 98 of file revolute_joint_model.cpp.

◆ getStateSpaceDimension()

unsigned int moveit::core::RevoluteJointModel::getStateSpaceDimension ( ) const

overridevirtual

Get the dimension of the state space that corresponds to this joint.

Implements moveit::core::JointModel.

Definition at line 68 of file revolute_joint_model.cpp.

◆ getVariableDefaultPositions()

void moveit::core::RevoluteJointModel::getVariableDefaultPositions	(	double *	values,
		const Bounds &	other_bounds
	)		const

overridevirtual

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.

Implements moveit::core::JointModel.

Definition at line 103 of file revolute_joint_model.cpp.

◆ getVariableRandomPositions()

void moveit::core::RevoluteJointModel::getVariableRandomPositions	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const Bounds &	other_bounds
	)		const

overridevirtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implements moveit::core::JointModel.

Definition at line 116 of file revolute_joint_model.cpp.

◆ getVariableRandomPositionsNearBy()

void moveit::core::RevoluteJointModel::getVariableRandomPositionsNearBy	(	random_numbers::RandomNumberGenerator &	rng,
		double *	values,
		const Bounds &	other_bounds,
		const double *	near,
		const double	distance
	)		const

overridevirtual

Provide random values for the joint variables (within specified bounds). Enough memory is assumed to be allocated.

Implements moveit::core::JointModel.

Definition at line 122 of file revolute_joint_model.cpp.

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◆ harmonizePosition()

bool moveit::core::RevoluteJointModel::harmonizePosition	(	double *	values,
		const Bounds &	other_bounds
	)		const

overridevirtual

Harmonize position of revolute joints, adding/subtracting multiples of 2*Pi to bring them back into bounds. Return true if changes were made.

Reimplemented from moveit::core::JointModel.

Definition at line 196 of file revolute_joint_model.cpp.

◆ interpolate()

void moveit::core::RevoluteJointModel::interpolate	(	const double *	from,
		const double *	to,
		const double	t,
		double *	state
	)		const

overridevirtual

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.

Implements moveit::core::JointModel.

Definition at line 138 of file revolute_joint_model.cpp.

◆ isContinuous()

bool moveit::core::RevoluteJointModel::isContinuous ( ) const

inline

Check if this joint wraps around.

Definition at line 73 of file revolute_joint_model.h.

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◆ satisfiesPositionBounds()

bool moveit::core::RevoluteJointModel::satisfiesPositionBounds	(	const double *	values,
		const Bounds &	other_bounds,
		double	margin
	)		const

overridevirtual

Check if the set of position values for the variables of this joint are within bounds, up to some margin.

Implements moveit::core::JointModel.

Definition at line 184 of file revolute_joint_model.cpp.

◆ setAxis()

void moveit::core::RevoluteJointModel::setAxis ( const Eigen::Vector3d & axis )

Set the axis of rotation.

Definition at line 73 of file revolute_joint_model.cpp.

◆ setContinuous()

void moveit::core::RevoluteJointModel::setContinuous ( bool flag )

Definition at line 84 of file revolute_joint_model.cpp.

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Member Data Documentation

◆ axis_

Eigen::Vector3d moveit::core::RevoluteJointModel::axis_

protected

The axis of the joint.

Definition at line 89 of file revolute_joint_model.h.

◆ continuous_

bool moveit::core::RevoluteJointModel::continuous_

protected

Flag indicating whether this joint wraps around.

Definition at line 92 of file revolute_joint_model.h.

The documentation for this class was generated from the following files:

moveit_core/robot_model/include/moveit/robot_model/revolute_joint_model.h
moveit_core/robot_model/src/revolute_joint_model.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RevoluteJointModel()

Member Function Documentation

◆ computeTransform()

◆ computeVariablePositions()

◆ distance()

◆ enforcePositionBounds()

◆ getAxis()

◆ getMaximumExtent()

◆ getStateSpaceDimension()

◆ getVariableDefaultPositions()

◆ getVariableRandomPositions()

◆ getVariableRandomPositionsNearBy()

◆ harmonizePosition()

◆ interpolate()

◆ isContinuous()

◆ satisfiesPositionBounds()

◆ setAxis()

◆ setContinuous()

Member Data Documentation

◆ axis_

◆ continuous_