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)
void	update ()
	Updates denavit hartenberg matrices of all chains.
virtual	~CKinematicChainContainer ()
Public Attributes
CKinematicChain *	chain
	Array of kinematic chains.
int	length
	Number of kinematic chains.

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.

Array of kinematic chains.

Definition at line 322 of file frame.h.

Number of kinematic chains.

Definition at line 320 of file frame.h.

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