passive_joints.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
class PassiveJoints : public SRDFStep
{
public:
  std::string getName() const override
  {
    return "Passive Joints";
  }
 
  std::vector<std::string> getActiveJoints() const;
 
  std::vector<std::string> getPassiveJoints() const;
 
  std::string getChildOfJoint(const std::string& joint_name) const
  {
    return srdf_config_->getChildOfJoint(joint_name);
  }
 
  void setPassiveJoints(const std::vector<std::string>& passive_joints);
};
}  // namespace srdf_setup
}  // namespace moveit_setup