chain.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_HPP
00023 #define KDL_CHAIN_HPP
00024 
00025 #include "segment.hpp"
00026 #include <string>
00027 
00028 namespace KDL {
00035     class Chain {
00036     private:
00037         unsigned int nrOfJoints;
00038         unsigned int nrOfSegments;
00039     public:
00040         std::vector<Segment> segments;
00045         Chain();
00046         Chain(const Chain& in);
00047         Chain& operator = (const Chain& arg);
00048 
00054         void addSegment(const Segment& segment);
00061         void addChain(const Chain& chain);
00062 
00071         unsigned int getNrOfJoints()const {return nrOfJoints;};
00076         unsigned int getNrOfSegments()const {return nrOfSegments;};
00077 
00086         const Segment& getSegment(unsigned int nr)const;
00087 
00096         Segment& getSegment(unsigned int nr);
00097 
00098         virtual ~Chain();
00099     };
00100 
00101 
00102 
00103 }//end of namespace KDL
00104 
00105 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22