This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...
|void||addChain (const Chain &chain)|
|void||addSegment (const Segment &segment)|
|Chain (const Chain &in)|
|unsigned int||getNrOfJoints () const|
|unsigned int||getNrOfSegments () const|
|const Segment &||getSegment (unsigned int nr) const|
|Chain &||operator= (const Chain &arg)|
|std::vector< Segment >||segments|
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
|unsigned int KDL::Chain::getNrOfJoints||(||)|| const
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