moveit2
The MoveIt Motion Planning Framework for ROS 2.
joint_mimic.hpp
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34 
35 /* Author: Sachin Chitta */
36 
37 #pragma once
38 
40 {
46 {
47 public:
49  {
50  this->reset(0);
51  }
52 
54  double offset;
56  double multiplier;
58  unsigned int map_index;
60  std::string joint_name;
62  bool active;
63 
64  void reset(unsigned int index)
65  {
66  offset = 0.0;
67  multiplier = 1.0;
68  map_index = index;
69  active = false;
70  }
71 };
72 } // namespace kdl_kinematics_plugin
A model of a mimic joint. Mimic joints are typically unactuated joints that are constrained to follow...
Definition: joint_mimic.hpp:46
double multiplier
Multiplier for this joint value from the joint that it mimics.
Definition: joint_mimic.hpp:56
bool active
If true, this joint is an active DOF and not a mimic joint.
Definition: joint_mimic.hpp:62
std::string joint_name
Name of this joint.
Definition: joint_mimic.hpp:60
void reset(unsigned int index)
Definition: joint_mimic.hpp:64
double offset
Offset for this joint value from the joint that it mimics.
Definition: joint_mimic.hpp:54
unsigned int map_index
Index of the joint that this joint mimics in the vector of active degrees of freedom.
Definition: joint_mimic.hpp:58