joint_mimic.h
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34 
35 /* Author: Francisco Suarez-Ruiz */
36 
37 #ifndef MOVEIT_LMA_KINEMATICS_PLUGIN_JOINT_MIMIC_H
38 #define MOVEIT_LMA_KINEMATICS_PLUGIN_JOINT_MIMIC_H
39 
41 {
47 {
48 public:
50  {
51  this->reset(0);
52  };
53 
55  double offset;
57  double multiplier;
59  unsigned int map_index;
61  std::string joint_name;
63  bool active;
64 
65  void reset(unsigned int index)
66  {
67  offset = 0.0;
68  multiplier = 1.0;
69  map_index = index;
70  active = false;
71  };
72 };
73 }
74 
75 #endif
A model of a mimic joint. Mimic joints are typically unactuated joints that are constrained to follow...
Definition: joint_mimic.h:46
unsigned int map_index
Index of the joint that this joint mimics in the vector of active degrees of freedom.
Definition: joint_mimic.h:59
std::string joint_name
Name of this joint.
Definition: joint_mimic.h:61
double offset
Offset for this joint value from the joint that it mimics.
Definition: joint_mimic.h:52
void reset(unsigned int index)
Definition: joint_mimic.h:65
bool active
If true, this joint is an active DOF and not a mimic joint.
Definition: joint_mimic.h:63
double multiplier
Multiplier for this joint value from the joint that it mimics.
Definition: joint_mimic.h:57


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Fri Sep 21 2018 02:49:51