segment.hpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at intermodalics dot eu>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA


#ifndef KDL_SEGMENT_HPP
#define KDL_SEGMENT_HPP

#include "frames.hpp"
#include "rigidbodyinertia.hpp"
#include "joint.hpp"
#include <vector>

namespace KDL {

    class Segment {
        friend class Chain;
    private:
        std::string name;
        Joint joint;
        RigidBodyInertia I;
        Frame f_tip;

    public:
        explicit Segment(const std::string& name, const Joint& joint=Joint(Joint::Fixed), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
        explicit Segment(const Joint& joint=Joint(Joint::Fixed), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
        Segment(const Segment& in);
        Segment& operator=(const Segment& arg);

        virtual ~Segment();

        Frame pose(const double& q)const;
        Twist twist(const double& q,const double& qdot)const;

        const std::string& getName()const
        {
            return name;
        }
        const Joint& getJoint()const
        {
            return joint;
        }
        const RigidBodyInertia& getInertia()const
        {
            return I;
        }
        void setInertia(const RigidBodyInertia& Iin)
        {
            this->I=Iin;
        }

        Frame getFrameToTip()const
        {

            return joint.pose(0)*f_tip;
        }

        void setFrameToTip(const Frame& f_tip_new);

        const Frame& getFrameToTipZero() const
        {
            return f_tip;
        }
    };
}//end of namespace KDL

#endif