joint_mimic.hpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2012, Willow Garage, Inc.
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00008 *  Redistribution and use in source and binary forms, with or without
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00012 *   * Redistributions of source code must retain the above copyright
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00014 *   * Redistributions in binary form must reproduce the above
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Sachin Chitta
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00037 
00038 #ifndef MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
00039 #define MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
00040 
00041 namespace kdl_kinematics_plugin
00042 {
00043 
00048 class JointMimic
00049 {
00050 public:
00051 
00052   JointMimic() { this->reset(0); };
00053 
00055   double offset;
00057   double multiplier;
00059   unsigned int map_index;
00061   std::string joint_name;
00063   bool active;
00064 
00065   void reset(unsigned int index)
00066   {
00067     offset = 0.0;
00068     multiplier = 1.0;
00069     map_index = index;
00070     active = false;
00071   };
00072 };
00073 
00074 }
00075 
00076 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:31:39