KDL::Segment Class Reference
[Kinematic Families]

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...

#include <segment.hpp>

List of all members.

Public Member Functions
Frame	getFrameToTip () const
const RigidBodyInertia &	getInertia () const
const Joint &	getJoint () const
const std::string &	getName () const
Segment &	operator= (const Segment &arg)
Frame	pose (const double &q) const
	Segment (const Segment &in)
	Segment (const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Segment (const std::string &name, const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
void	setInertia (const RigidBodyInertia &Iin)
Twist	twist (const double &q, const double &qdot) const
virtual	~Segment ()
Private Attributes
Frame	f_tip
RigidBodyInertia	I
Joint	joint
std::string	name
Friends
class	Chain

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Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments.

A simple segment is described by the following properties :

• Joint
• Rigid Body Inertia: of the rigid body part of the Segment
• Offset from the end of the joint to the tip of the segment: the joint is located at the root of the segment.

Definition at line 46 of file segment.hpp.

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Constructor & Destructor Documentation

KDL::Segment::Segment	(	const std::string &	name,
		const Joint &	joint = Joint(Joint::None),
		const Frame &	f_tip = Frame::Identity(),
		const RigidBodyInertia &	I = RigidBodyInertia::Zero()
	)			[explicit]

Constructor of the segment

Parameters:

	name	name of the segment
	joint	joint of the segment, default: Joint(Joint::None)
	f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
	M	rigid body inertia of the segment, default: Inertia::Zero()

Definition at line 24 of file segment.cpp.

KDL::Segment::Segment	(	const Joint &	joint = Joint(Joint::None),
		const Frame &	f_tip = Frame::Identity(),
		const RigidBodyInertia &	I = RigidBodyInertia::Zero()
	)			[explicit]

Constructor of the segment

Parameters:

	joint	joint of the segment, default: Joint(Joint::None)
	f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
	M	rigid body inertia of the segment, default: Inertia::Zero()

Definition at line 31 of file segment.cpp.

KDL::Segment::Segment

(

const Segment &

in

)

Definition at line 38 of file segment.cpp.

KDL::Segment::~Segment

(

)

[virtual]

Definition at line 53 of file segment.cpp.

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Member Function Documentation

Frame KDL::Segment::getFrameToTip

(

)

const [inline]

Request the pose from the joint end to the tip of the segment.

Returns:

the original parent end - segment end pose.

Definition at line 149 of file segment.hpp.

const RigidBodyInertia& KDL::Segment::getInertia

(

)

const [inline]

Request the inertia of the segment

Returns:

const reference to the inertia of the segment

Definition at line 128 of file segment.hpp.

const Joint& KDL::Segment::getJoint

(

)

const [inline]

Request the joint of the segment

Returns:

const reference to the joint of the segment

Definition at line 118 of file segment.hpp.

const std::string& KDL::Segment::getName

(

)

const [inline]

Request the name of the segment

Returns:

const reference to the name of the segment

Definition at line 108 of file segment.hpp.

Segment & KDL::Segment::operator=

(

const Segment &

arg

)

Definition at line 44 of file segment.cpp.

Frame KDL::Segment::pose

(

const double &

q

)

const

Request the pose of the segment, given the joint position q.

Parameters:

q

1D position of the joint

Returns:

pose from the root to the tip of the segment

Definition at line 57 of file segment.cpp.

void KDL::Segment::setInertia

(

const RigidBodyInertia &

Iin

)

[inline]

Request the inertia of the segment

Returns:

const reference to the inertia of the segment

Definition at line 138 of file segment.hpp.

Twist KDL::Segment::twist	(	const double &	q,
		const double &	qdot
	)			const

Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.

Parameters:

	q	1D position of the joint
	qdot	1D velocity of the joint

Returns:

6D-velocity of the tip of the segment, expressed in the base-frame of the segment(root) and with the tip of the segment as reference point.

Definition at line 62 of file segment.cpp.

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Friends And Related Function Documentation

friend class Chain [friend]

Definition at line 47 of file segment.hpp.

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Member Data Documentation

Frame KDL::Segment::f_tip [private]

Definition at line 52 of file segment.hpp.

RigidBodyInertia KDL::Segment::I [private]

Definition at line 51 of file segment.hpp.

Joint KDL::Segment::joint [private]

Definition at line 50 of file segment.hpp.

std::string KDL::Segment::name [private]

Definition at line 49 of file segment.hpp.

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

• segment.hpp
• segment.cpp