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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Public Attributes | List of all members
kdl_kinematics_plugin::JointMimic Class Reference

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

double offset
 Offset for this joint value from the joint that it mimics.
 
double multiplier
 Multiplier for this joint value from the joint that it mimics.
 
unsigned int map_index
 Index of the joint that this joint mimics in the vector of active degrees of freedom.
 
std::string joint_name
 Name of this joint.
 
bool active
 If true, this joint is an active DOF and not a mimic joint.
 

Detailed Description

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 45 of file joint_mimic.hpp.

Constructor & Destructor Documentation

◆ JointMimic()

kdl_kinematics_plugin::JointMimic::JointMimic ( )
inline

Definition at line 48 of file joint_mimic.hpp.

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Member Function Documentation

◆ reset()

void kdl_kinematics_plugin::JointMimic::reset ( unsigned int  index)
inline

Definition at line 64 of file joint_mimic.hpp.

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Member Data Documentation

◆ active

bool kdl_kinematics_plugin::JointMimic::active

If true, this joint is an active DOF and not a mimic joint.

Definition at line 62 of file joint_mimic.hpp.

◆ joint_name

std::string kdl_kinematics_plugin::JointMimic::joint_name

Name of this joint.

Definition at line 60 of file joint_mimic.hpp.

◆ map_index

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 58 of file joint_mimic.hpp.

◆ multiplier

double kdl_kinematics_plugin::JointMimic::multiplier

Multiplier for this joint value from the joint that it mimics.

Definition at line 56 of file joint_mimic.hpp.

◆ offset

double kdl_kinematics_plugin::JointMimic::offset

Offset for this joint value from the joint that it mimics.

Definition at line 54 of file joint_mimic.hpp.


The documentation for this class was generated from the following file: