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  * Author: Sachin Chitta
  *********************************************************************/
  
  #ifndef MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
  #define MOVEIT_KDL_KINEMATICS_PLUGIN_JOINT_MIMIC
  
  namespace terabot_kinematics_plugin
  {
  
  /** \brief 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
  */
  class JointMimic
  {
  public:
  
    JointMimic() { this->reset(0); };
  
    /** \brief Offset for this joint value from the joint that it mimics */
    double offset;
    /** \brief Multiplier for this joint value from the joint that it mimics */
    double multiplier;
    /** \brief Index of the joint that this joint mimics in the vector of active degrees of freedom */
    unsigned int map_index;
    /** \brief Name of this joint */
    std::string joint_name;
    /** \brief If true, this joint is an active DOF and not a mimic joint*/
    bool active;
  
    void reset(unsigned int index)
    {
      offset = 0.0;
      multiplier = 1.0;
      map_index = index;
      active = false;
    };
  };
  
  }
  
  #endif
  