joint_mimic.hpp

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/* Author: Sachin Chitta */

#ifndef MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
#define MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC

namespace kdl_kinematics_plugin
{
class JointMimic
{
public:
  JointMimic()
  {
    this->reset(0);
  };

  double offset;
  double multiplier;
  unsigned int map_index;
  std::string joint_name;
  bool active;

  void reset(unsigned int index)
  {
    offset = 0.0;
    multiplier = 1.0;
    map_index = index;
    active = false;
  };
};
}

#endif