/usr/include/fcl/articulated_model/joint_config.h is in libfcl-dev 0.5.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/** \author Dalibor Matura, Jia Pan */
#ifndef FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
#define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H
#include "fcl/data_types.h"
#include <memory>
#include <vector>
namespace fcl
{
class Joint;
class JointConfig
{
public:
JointConfig();
JointConfig(const JointConfig& joint_cfg);
JointConfig(const std::shared_ptr<Joint>& joint,
FCL_REAL default_value = 0,
FCL_REAL default_value_min = 0,
FCL_REAL default_value_max = 0);
std::size_t getDim() const;
inline FCL_REAL operator [] (std::size_t i) const
{
return values_[i];
}
inline FCL_REAL& operator [] (std::size_t i)
{
return values_[i];
}
FCL_REAL getValue(std::size_t i) const;
FCL_REAL& getValue(std::size_t i);
FCL_REAL getLimitMin(std::size_t i) const;
FCL_REAL& getLimitMin(std::size_t i);
FCL_REAL getLimitMax(std::size_t i) const;
FCL_REAL& getLimitMax(std::size_t i);
std::shared_ptr<Joint> getJoint() const;
private:
std::weak_ptr<Joint> joint_;
std::vector<FCL_REAL> values_;
std::vector<FCL_REAL> limits_min_;
std::vector<FCL_REAL> limits_max_;
};
}
#endif
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