Kinematic Robot Model. More...

#include <frame.h>

Public Member Functions
	CKinematicChainContainer ()

unsigned int	getLength ()

void	loadFromXml (CConfiguration &config, TiXmlElement *kinChainsNode, CFrameContainer &container)
	Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object) More...

void	update ()
	Updates denavit hartenberg matrices of all chains. More...

virtual	~CKinematicChainContainer ()

Public Attributes
CKinematicChain *	chain
	Array of kinematic chains. More...

int	length
	Number of kinematic chains. More...

Detailed Description

Kinematic Robot Model.

The kinematic model of the robot is given by a number of (connected) kinematic chains.

Definition at line 317 of file frame.h.

Constructor & Destructor Documentation

robotLibPbD::CKinematicChainContainer::CKinematicChainContainer ( )

Definition at line 885 of file frame.cpp.

robotLibPbD::CKinematicChainContainer::~CKinematicChainContainer ( )

virtual

Definition at line 891 of file frame.cpp.

unsigned int robotLibPbD::CKinematicChainContainer::getLength ( )

inline

Definition at line 324 of file frame.h.

void robotLibPbD::CKinematicChainContainer::loadFromXml	(	CConfiguration &	config,
		TiXmlElement *	kinChainsNode,
		CFrameContainer &	container
	)

Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object)

Definition at line 902 of file frame.cpp.

void robotLibPbD::CKinematicChainContainer::update ( )

inline

Updates denavit hartenberg matrices of all chains.

Definition at line 425 of file frame.h.

CKinematicChain* robotLibPbD::CKinematicChainContainer::chain

Array of kinematic chains.

Definition at line 322 of file frame.h.

int robotLibPbD::CKinematicChainContainer::length

Number of kinematic chains.

Definition at line 320 of file frame.h.

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