kdl_kinematics_plugin::JointMimic Class Reference

A model of a mimic joint. Mimic joints are typically unactuated joints that are constrained to follow the motion of another joint. The constraint is linear, i.e. joint_angle_constrained_joint = joint_angle_mimicked_joint*multiplier + offset. More...

#include <joint_mimic.hpp>

Public Member Functions
	JointMimic ()
void	reset (unsigned int index)

Public Attributes
bool	active
	If true, this joint is an active DOF and not a mimic joint. More...
std::string	joint_name
	Name of this joint. More...
unsigned int	map_index
	Index of the joint that this joint mimics in the vector of active degrees of freedom. More...
double	multiplier
	Multiplier for this joint value from the joint that it mimics. More...
double	offset
	Offset for this joint value from the joint that it mimics. More...

Detailed Description

A model of a mimic joint. Mimic joints are typically unactuated joints that are constrained to follow the motion of another joint. The constraint is linear, i.e. joint_angle_constrained_joint = joint_angle_mimicked_joint*multiplier + offset.

Definition at line 46 of file joint_mimic.hpp.

Constructor & Destructor Documentation

kdl_kinematics_plugin::JointMimic::JointMimic ( )

inline

Definition at line 49 of file joint_mimic.hpp.

Member Function Documentation

void kdl_kinematics_plugin::JointMimic::reset ( unsigned int  index )

inline

Definition at line 65 of file joint_mimic.hpp.

Member Data Documentation

bool kdl_kinematics_plugin::JointMimic::active

If true, this joint is an active DOF and not a mimic joint.

Definition at line 63 of file joint_mimic.hpp.

std::string kdl_kinematics_plugin::JointMimic::joint_name

Name of this joint.

Definition at line 61 of file joint_mimic.hpp.

unsigned int kdl_kinematics_plugin::JointMimic::map_index

Index of the joint that this joint mimics in the vector of active degrees of freedom.

Definition at line 59 of file joint_mimic.hpp.

double kdl_kinematics_plugin::JointMimic::multiplier

Multiplier for this joint value from the joint that it mimics.

Definition at line 57 of file joint_mimic.hpp.

double kdl_kinematics_plugin::JointMimic::offset

Offset for this joint value from the joint that it mimics.

Definition at line 52 of file joint_mimic.hpp.

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

• joint_mimic.hpp