virtual_joints.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_srdf_plugins/virtual_joints.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
void VirtualJoints::onInit()
{
  SuperSRDFStep::onInit();
  urdf_config_ = config_data_->get<URDFConfig>("urdf");
}
 
void VirtualJoints::setProperties(srdf::Model::VirtualJoint* vj, const std::string& parent_name,
                                  const std::string& child_name, const std::string& joint_type)
{
  vj->parent_frame_ = parent_name;
  vj->child_link_ = child_name;
  vj->type_ = joint_type;
  srdf_config_->updateRobotModel(VIRTUAL_JOINTS);
}
}  // namespace srdf_setup
}  // namespace moveit_setup