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.h>
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... | |
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.h.
|
inline |
Definition at line 49 of file joint_mimic.h.
|
inline |
Definition at line 65 of file joint_mimic.h.
bool lma_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.h.
std::string lma_kinematics_plugin::JointMimic::joint_name |
Name of this joint.
Definition at line 61 of file joint_mimic.h.
unsigned int lma_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.h.
double lma_kinematics_plugin::JointMimic::multiplier |
Multiplier for this joint value from the joint that it mimics.
Definition at line 57 of file joint_mimic.h.
double lma_kinematics_plugin::JointMimic::offset |
Offset for this joint value from the joint that it mimics.
Definition at line 52 of file joint_mimic.h.