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planning_models::KinematicModel::JointModel Class Reference

A joint from the robot. Contains the transform applied by the joint type. More...

#include <kinematic_model.h>

Inheritance diagram for planning_models::KinematicModel::JointModel:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::bimap
< std::string, std::string > 
js_type

Public Member Functions

virtual std::vector< double > computeJointStateValues (const btTransform &transform) const =0
virtual btTransform computeTransform (const std::vector< double > &joint_values) const =0
const std::map< std::string,
std::pair< double, double > > & 
getAllVariableBounds () const
const std::string & getChildFrameId () const
const LinkModelgetChildLinkModel () const
const std::map< unsigned int,
std::string > & 
getComputatationOrderMapIndex () const
std::string getEquiv (const std::string &name) const
 Gets the joint state equivalent for given name.
const js_typegetJointStateEquivalents () const
const std::string & getName () const
const std::string & getParentFrameId () const
const LinkModelgetParentLinkModel () const
bool getVariableBounds (const std::string &variable, std::pair< double, double > &bounds) const
 Gets the lower and upper bounds for a variable.
virtual void getVariableDefaultValuesGivenBounds (std::map< std::string, double > &ret_map) const
 Provides a default value for the joint given the joint bounds. Most joints will use the default, but the quaternion for floating point values needs something else.
bool hasVariable (const std::string var) const
void initialize (const std::vector< std::string > &local_names, const MultiDofConfig *multi_dof_config=NULL)
virtual bool isValueWithinVariableBounds (const std::string &variable, const double &value, bool &within_bounds) const
 JointModel (const JointModel *joint)
 JointModel (const std::string &name)
bool setVariableBounds (const std::string &variable, double low, double high)
 Sets the lower and upper bounds for a variable.
virtual ~JointModel (void)

Private Attributes

std::string child_frame_id_
LinkModelchild_link_model_
 The link after this joint.
std::map< unsigned int,
std::string > 
computation_order_map_index_
std::map< std::string,
std::pair< double, double > > 
joint_state_bounds_
js_type joint_state_equivalents_
std::string name_
 Name of the joint.
std::string parent_frame_id_
LinkModelparent_link_model_
 The link before this joint.

Friends

class KinematicModel

Detailed Description

A joint from the robot. Contains the transform applied by the joint type.

Definition at line 123 of file kinematic_model.h.


Member Typedef Documentation

typedef boost::bimap< std::string, std::string > planning_models::KinematicModel::JointModel::js_type

Definition at line 136 of file kinematic_model.h.


Constructor & Destructor Documentation

planning_models::KinematicModel::JointModel::JointModel ( const std::string &  name  ) 

Definition at line 789 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel::JointModel ( const JointModel joint  ) 

Definition at line 828 of file kinematic_model.cpp.

planning_models::KinematicModel::JointModel::~JointModel ( void   )  [virtual]

Definition at line 836 of file kinematic_model.cpp.


Member Function Documentation

virtual std::vector<double> planning_models::KinematicModel::JointModel::computeJointStateValues ( const btTransform &  transform  )  const [pure virtual]
virtual btTransform planning_models::KinematicModel::JointModel::computeTransform ( const std::vector< double > &  joint_values  )  const [pure virtual]
const std::map<std::string, std::pair<double, double> >& planning_models::KinematicModel::JointModel::getAllVariableBounds (  )  const [inline]

Definition at line 188 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getChildFrameId (  )  const [inline]

Definition at line 158 of file kinematic_model.h.

const LinkModel* planning_models::KinematicModel::JointModel::getChildLinkModel (  )  const [inline]

Definition at line 148 of file kinematic_model.h.

const std::map<unsigned int, std::string>& planning_models::KinematicModel::JointModel::getComputatationOrderMapIndex (  )  const [inline]

Definition at line 168 of file kinematic_model.h.

std::string planning_models::KinematicModel::JointModel::getEquiv ( const std::string &  name  )  const

Gets the joint state equivalent for given name.

Definition at line 842 of file kinematic_model.cpp.

const js_type& planning_models::KinematicModel::JointModel::getJointStateEquivalents (  )  const [inline]

Definition at line 163 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getName ( void   )  const [inline]

Definition at line 138 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::JointModel::getParentFrameId (  )  const [inline]

Definition at line 153 of file kinematic_model.h.

const LinkModel* planning_models::KinematicModel::JointModel::getParentLinkModel (  )  const [inline]

Definition at line 143 of file kinematic_model.h.

bool planning_models::KinematicModel::JointModel::getVariableBounds ( const std::string &  variable,
std::pair< double, double > &  bounds 
) const

Gets the lower and upper bounds for a variable.

Definition at line 860 of file kinematic_model.cpp.

void planning_models::KinematicModel::JointModel::getVariableDefaultValuesGivenBounds ( std::map< std::string, double > &  ret_map  )  const [virtual]

Provides a default value for the joint given the joint bounds. Most joints will use the default, but the quaternion for floating point values needs something else.

Reimplemented in planning_models::KinematicModel::FloatingJointModel.

Definition at line 874 of file kinematic_model.cpp.

bool planning_models::KinematicModel::JointModel::hasVariable ( const std::string  var  )  const [inline]

Definition at line 192 of file kinematic_model.h.

void planning_models::KinematicModel::JointModel::initialize ( const std::vector< std::string > &  local_names,
const MultiDofConfig multi_dof_config = NULL 
)

Definition at line 794 of file kinematic_model.cpp.

bool planning_models::KinematicModel::JointModel::isValueWithinVariableBounds ( const std::string &  variable,
const double &  value,
bool &  within_bounds 
) const [virtual]

Reimplemented in planning_models::KinematicModel::RevoluteJointModel.

Definition at line 888 of file kinematic_model.cpp.

bool planning_models::KinematicModel::JointModel::setVariableBounds ( const std::string &  variable,
double  low,
double  high 
)

Sets the lower and upper bounds for a variable.

Definition at line 851 of file kinematic_model.cpp.


Friends And Related Function Documentation

friend class KinematicModel [friend]

Definition at line 125 of file kinematic_model.h.


Member Data Documentation

The child frame id for this joint. May be empty unless specified as multi-dof

Definition at line 225 of file kinematic_model.h.

The link after this joint.

Definition at line 210 of file kinematic_model.h.

Definition at line 219 of file kinematic_model.h.

std::map<std::string, std::pair<double, double> > planning_models::KinematicModel::JointModel::joint_state_bounds_ [private]

Definition at line 216 of file kinematic_model.h.

Definition at line 213 of file kinematic_model.h.

Name of the joint.

Definition at line 204 of file kinematic_model.h.

The parent frame id for this joint. May be empty unless specified as multi-dof

Definition at line 222 of file kinematic_model.h.

The link before this joint.

Definition at line 207 of file kinematic_model.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends


planning_models
Author(s): Ioan Sucan/isucan@willowgarage.com
autogenerated on Fri Mar 1 14:16:23 2013