#include <chain_coupling.hpp>

Inheritance diagram for KDL::Chain_coupling:

Public Member Functions
	Chain_coupling ()

	Chain_coupling (const Chain_coupling &in)

	Chain_coupling (const Chain &in)

unsigned int	getNrOfIndJoints () const

updateFuncPtr	getUpdateCouplingFunction () const

bool	isCoupled () const

Chain_coupling &	operator= (const Chain_coupling &in)

Chain_coupling &	operator= (const Chain &in)

bool	setUpdateCouplingFunction (updateFuncPtr updateFunc)

void	updateCoupling (const JntArray &q)

	~Chain_coupling ()

Public Member Functions inherited from KDL::Chain
void	addChain (const Chain &chain)

void	addSegment (const Segment &segment)

	Chain (const Chain &in)

	Chain ()

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
Eigen::MatrixXd	cm

Public Attributes inherited from KDL::Chain
std::vector< Segment >	segments

Private Attributes
unsigned int	nrOfIndJoints

updateFuncPtr	updateFunction

Detailed Description

Definition at line 42 of file chain_coupling.hpp.

Constructor & Destructor Documentation

◆ Chain_coupling() [1/3]

KDL::Chain_coupling::Chain_coupling ( )

Definition at line 29 of file chain_coupling.cpp.

◆ Chain_coupling() [2/3]

KDL::Chain_coupling::Chain_coupling ( const Chain_coupling & in )

Definition at line 37 of file chain_coupling.cpp.

◆ Chain_coupling() [3/3]

KDL::Chain_coupling::Chain_coupling ( const Chain & in )

explicit

Definition at line 46 of file chain_coupling.cpp.

◆ ~Chain_coupling()

KDL::Chain_coupling::~Chain_coupling ( )

Definition at line 119 of file chain_coupling.cpp.

Member Function Documentation

◆ getNrOfIndJoints()

unsigned int KDL::Chain_coupling::getNrOfIndJoints ( ) const

inline

Definition at line 96 of file chain_coupling.hpp.

◆ getUpdateCouplingFunction()

updateFuncPtr KDL::Chain_coupling::getUpdateCouplingFunction ( ) const

Definition at line 106 of file chain_coupling.cpp.

◆ isCoupled()

bool KDL::Chain_coupling::isCoupled ( ) const

Definition at line 76 of file chain_coupling.cpp.

◆ operator=() [1/2]

Chain_coupling & KDL::Chain_coupling::operator= ( const Chain_coupling & in )

Definition at line 54 of file chain_coupling.cpp.

◆ operator=() [2/2]

Chain_coupling & KDL::Chain_coupling::operator= ( const Chain & in )

Definition at line 65 of file chain_coupling.cpp.

◆ setUpdateCouplingFunction()

bool KDL::Chain_coupling::setUpdateCouplingFunction ( updateFuncPtr updateFunc )

Definition at line 81 of file chain_coupling.cpp.

◆ updateCoupling()

void KDL::Chain_coupling::updateCoupling ( const JntArray & q )

Definition at line 111 of file chain_coupling.cpp.

Member Data Documentation

◆ cm

Eigen::MatrixXd KDL::Chain_coupling::cm

Definition at line 104 of file chain_coupling.hpp.

◆ nrOfIndJoints

unsigned int KDL::Chain_coupling::nrOfIndJoints

private

Definition at line 46 of file chain_coupling.hpp.

◆ updateFunction

updateFuncPtr KDL::Chain_coupling::updateFunction