segment.hpp
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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 
00023 #ifndef KDL_SEGMENT_HPP
00024 #define KDL_SEGMENT_HPP
00025 
00026 #include "frames.hpp"
00027 #include "rigidbodyinertia.hpp"
00028 #include "joint.hpp"
00029 #include <vector>
00030 
00031 namespace KDL {
00032 
00046     class Segment {
00047         friend class Chain;
00048     private:
00049         std::string name;
00050         Joint joint;
00051         RigidBodyInertia I;
00052         Frame f_tip;
00053 
00054     public:
00065         explicit Segment(const std::string& name, const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
00075         explicit Segment(const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
00076         Segment(const Segment& in);
00077         Segment& operator=(const Segment& arg);
00078 
00079         virtual ~Segment();
00080 
00088         Frame pose(const double& q)const;
00100         Twist twist(const double& q,const double& qdot)const;
00101 
00108         const std::string& getName()const
00109         {
00110             return name;
00111         }
00118         const Joint& getJoint()const
00119         {
00120             return joint;
00121         }
00128         const RigidBodyInertia& getInertia()const
00129         {
00130             return I;
00131         }
00138         void setInertia(const RigidBodyInertia& Iin)
00139         {
00140             this->I=Iin;
00141         }
00142 
00149         Frame getFrameToTip()const
00150         {
00151             
00152             return joint.pose(0)*f_tip;
00153         }
00154 
00155     };
00156 }//end of namespace KDL
00157 
00158 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14