chain.hpp
Go to the documentation of this file.00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_CHAIN_HPP 00023 #define KDL_CHAIN_HPP 00024 00025 #include "segment.hpp" 00026 #include <string> 00027 00028 namespace KDL { 00035 class Chain { 00036 private: 00037 int nrOfJoints; 00038 int nrOfSegments; 00039 public: 00040 std::vector<Segment> segments; 00045 Chain(); 00046 Chain(const Chain& in); 00047 Chain& operator = (const Chain& arg); 00048 00054 void addSegment(const Segment& segment); 00061 void addChain(const Chain& chain); 00062 00071 unsigned int getNrOfJoints()const {return nrOfJoints;}; 00076 unsigned int getNrOfSegments()const {return nrOfSegments;}; 00077 00086 const Segment& getSegment(unsigned int nr)const; 00087 00088 virtual ~Chain(); 00089 }; 00090 00091 00092 00093 }//end of namespace KDL 00094 00095 #endif