This class encapsulates a serial kinematic interconnection structure. It is build 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 |
Chain & | operator= (const Chain &arg) |
virtual | ~Chain () |
Public Attributes | |
std::vector< Segment > | segments |
Private Attributes | |
unsigned int | nrOfJoints |
unsigned int | nrOfSegments |
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
KDL::Chain::Chain | ( | const Chain & | in | ) |
KDL::Chain::~Chain | ( | ) | [virtual] |
void KDL::Chain::addChain | ( | const Chain & | chain | ) |
void KDL::Chain::addSegment | ( | const Segment & | segment | ) |
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.
unsigned int KDL::Chain::getNrOfSegments | ( | ) | const [inline] |
const Segment & KDL::Chain::getSegment | ( | unsigned int | nr | ) | const |
unsigned int KDL::Chain::nrOfJoints [private] |
unsigned int KDL::Chain::nrOfSegments [private] |
std::vector<Segment> KDL::Chain::segments |