moveit2
The MoveIt Motion Planning Framework for ROS 2.
moveit_py
src
moveit
moveit_core
robot_model
joint_model.cpp
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2023, Jafar Uruç
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* contributors may be used to endorse or promote products derived
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Jafar Uruç */
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#include "
joint_model.h
"
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#include <
moveit/robot_model/joint_model.h
>
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namespace
moveit_py
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{
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namespace
bind_robot_model
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{
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void
initJointModel
(py::module& m)
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{
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py::module robot_model = m.def_submodule(
"robot_model"
);
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py::class_<moveit::core::VariableBounds, std::shared_ptr<moveit::core::VariableBounds>>(robot_model,
"VariableBounds"
)
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.def_readonly(
"min_position"
, &
moveit::core::VariableBounds::min_position_
)
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.def_readonly(
"max_position"
, &
moveit::core::VariableBounds::max_position_
)
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.def_readonly(
"position_bounded"
, &
moveit::core::VariableBounds::position_bounded_
)
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.def_readonly(
"min_velocity"
, &
moveit::core::VariableBounds::min_velocity_
)
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.def_readonly(
"max_velocity"
, &
moveit::core::VariableBounds::max_velocity_
)
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.def_readonly(
"velocity_bounded"
, &
moveit::core::VariableBounds::velocity_bounded_
)
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.def_readonly(
"min_acceleration"
, &
moveit::core::VariableBounds::min_acceleration_
)
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.def_readonly(
"max_acceleration"
, &
moveit::core::VariableBounds::max_acceleration_
)
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.def_readonly(
"acceleration_bounded"
, &
moveit::core::VariableBounds::acceleration_bounded_
)
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.def_readonly(
"min_jerk"
, &
moveit::core::VariableBounds::min_jerk_
)
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.def_readonly(
"max_jerk"
, &
moveit::core::VariableBounds::max_jerk_
)
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.def_readonly(
"jerk_bounded"
, &
moveit::core::VariableBounds::jerk_bounded_
);
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}
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}
// namespace bind_robot_model
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}
// namespace moveit_py
joint_model.h
joint_model.h
moveit_py::bind_robot_model::initJointModel
void initJointModel(py::module &m)
Definition:
joint_model.cpp:45
moveit_py
Definition:
collision_common.cpp:40
moveit::core::VariableBounds::max_velocity_
double max_velocity_
Definition:
joint_model.h:77
moveit::core::VariableBounds::min_jerk_
double min_jerk_
Definition:
joint_model.h:84
moveit::core::VariableBounds::max_acceleration_
double max_acceleration_
Definition:
joint_model.h:81
moveit::core::VariableBounds::jerk_bounded_
bool jerk_bounded_
Definition:
joint_model.h:86
moveit::core::VariableBounds::velocity_bounded_
bool velocity_bounded_
Definition:
joint_model.h:78
moveit::core::VariableBounds::min_acceleration_
double min_acceleration_
Definition:
joint_model.h:80
moveit::core::VariableBounds::position_bounded_
bool position_bounded_
Definition:
joint_model.h:74
moveit::core::VariableBounds::min_position_
double min_position_
Definition:
joint_model.h:72
moveit::core::VariableBounds::max_jerk_
double max_jerk_
Definition:
joint_model.h:85
moveit::core::VariableBounds::max_position_
double max_position_
Definition:
joint_model.h:73
moveit::core::VariableBounds::acceleration_bounded_
bool acceleration_bounded_
Definition:
joint_model.h:82
moveit::core::VariableBounds::min_velocity_
double min_velocity_
Definition:
joint_model.h:76
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