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.hpp>
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. | |
| std::string | joint_name |
| Name of this joint. | |
| unsigned int | map_index |
| Index of the joint that this joint mimics in the vector of active degrees of freedom. | |
| double | multiplier |
| Multiplier for this joint value from the joint that it mimics. | |
| double | offset |
| Offset for this joint value from the joint that it mimics. | |
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 48 of file joint_mimic.hpp.
| kdl_kinematics_plugin::JointMimic::JointMimic | ( | ) | [inline] |
Definition at line 52 of file joint_mimic.hpp.
| void kdl_kinematics_plugin::JointMimic::reset | ( | unsigned int | index | ) | [inline] |
Definition at line 65 of file joint_mimic.hpp.
If true, this joint is an active DOF and not a mimic joint.
Definition at line 63 of file joint_mimic.hpp.
| std::string kdl_kinematics_plugin::JointMimic::joint_name |
Name of this joint.
Definition at line 61 of file joint_mimic.hpp.
| unsigned int kdl_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.hpp.
Multiplier for this joint value from the joint that it mimics.
Definition at line 57 of file joint_mimic.hpp.
Offset for this joint value from the joint that it mimics.
Definition at line 52 of file joint_mimic.hpp.