.. _program_listing_file_include_moveit_setup_srdf_plugins_passive_joints.hpp:

Program Listing for File passive_joints.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_srdf_plugins_passive_joints.hpp>` (``include/moveit_setup_srdf_plugins/passive_joints.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: David V. Lu!! */
   #pragma once
   
   #include <moveit_setup_srdf_plugins/srdf_step.hpp>
   
   namespace moveit_setup
   {
   namespace srdf_setup
   {
   class PassiveJoints : public SRDFStep
   {
   public:
     std::string getName() const override
     {
       return "Passive Joints";
     }
   
     std::vector<std::string> getActiveJoints() const;
   
     std::vector<std::string> getPassiveJoints() const;
   
     std::string getChildOfJoint(const std::string& joint_name) const
     {
       return srdf_config_->getChildOfJoint(joint_name);
     }
   
     void setPassiveJoints(const std::vector<std::string>& passive_joints);
   };
   }  // namespace srdf_setup
   }  // namespace moveit_setup