KDL::Chain Class Reference

This class encapsulates a serial kinematic interconnection structure. It is built out of segments. More...

#include <chain.hpp>

Public Member Functions
void	addChain (const Chain &chain)
void	addSegment (const Segment &segment)
	Chain ()
	Chain (const Chain &in)
unsigned int	getNrOfJoints () const
unsigned int	getNrOfSegments () const
const Segment &	getSegment (unsigned int nr) const
Segment &	getSegment (unsigned int nr)
Chain &	operator= (const Chain &arg)
virtual	~Chain ()

Public Attributes
std::vector< Segment >	segments

Private Attributes
unsigned int	nrOfJoints
unsigned int	nrOfSegments

Detailed Description

This class encapsulates a serial kinematic interconnection structure. It is built out of segments.

Definition at line 35 of file chain.hpp.

Constructor & Destructor Documentation

KDL::Chain::Chain

(

)

The constructor of a chain, a new chain is always empty.

Definition at line 27 of file chain.cpp.

KDL::Chain::Chain

(

const Chain &

in

)

Definition at line 34 of file chain.cpp.

KDL::Chain::~Chain ( )

virtual

Definition at line 78 of file chain.cpp.

Member Function Documentation

void KDL::Chain::addChain

(

const Chain &

chain

)

Adds a complete chain to the end of the chain The added chain is copied.

Parameters

chain

The chain to add

Definition at line 62 of file chain.cpp.

void KDL::Chain::addSegment

(

const Segment &

segment

)

Adds a new segment to the end of the chain.

Parameters

segment

The segment to add

Definition at line 54 of file chain.cpp.

unsigned int KDL::Chain::getNrOfJoints ( ) const

inline

Request the total number of joints in the chain.
Important: It is not the same as the total number of segments since a segment does not need to have a joint. This function is important when creating a KDL::JntArray to use with this chain.

Returns

total nr of joints

Definition at line 71 of file chain.hpp.

unsigned int KDL::Chain::getNrOfSegments ( ) const

inline

Request the total number of segments in the chain.

Returns

total number of segments

Definition at line 76 of file chain.hpp.

const Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

const

Request the nr'd segment of the chain. There is no boundary checking.

Parameters

nr	the nr of the segment starting from 0

Returns

a constant reference to the nr'd segment

Definition at line 68 of file chain.cpp.

Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

Request the nr'd segment of the chain. There is no boundary checking.

Parameters

nr	the nr of the segment starting from 0

Returns

a reference to the nr'd segment

Definition at line 73 of file chain.cpp.

Chain & KDL::Chain::operator=

(

const Chain &

arg

)

Definition at line 43 of file chain.cpp.

Member Data Documentation

unsigned int KDL::Chain::nrOfJoints

private

Definition at line 37 of file chain.hpp.

unsigned int KDL::Chain::nrOfSegments

private

Definition at line 38 of file chain.hpp.

std::vector<Segment> KDL::Chain::segments

Definition at line 40 of file chain.hpp.

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

• chain.hpp
• chain.cpp