gazebo_ros_mimic_joint.h

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#ifndef GAZEBO_ROS_MIMIC_JOINT_HH
#define GAZEBO_ROS_MIMIC_JOINT_HH
 
#include <functional>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <ros/ros.h>
 
namespace cob_gazebo_ros_control
{
class MimicJoint : public gazebo::ModelPlugin
{
  public: void Load( gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf );
 
  public: void OnUpdate();
 
  private: gazebo::physics::ModelPtr model_;
 
  // Pointer to the update event connection
  private: gazebo::event::ConnectionPtr update_connection_;
 
  private: std::string joint_name_;
 
  private: std::string mimic_joint_name_;
 
  private: gazebo::physics::JointPtr joint_;
  
  private: gazebo::physics::JointPtr mimic_joint_;
 
  private: double multiplier_;
 
  private: double offset_;
};
 
 
} //namespace
 
#endif