robotLibPbD::CKinematicChain Class Reference

Kinematic chain. More...

#include <frame.h>

Public Member Functions
	CKinematicChain ()
CFrame *	getByName (char *str)
	Returns frame object if frame with name str exists in the chain. More...
CDh &	getDhParameters (unsigned int id)
CFrame *	getFrame (unsigned int id)
CFrame *	getLastFrame ()
unsigned int	getLength ()
std::string	getName ()
void	invalidate ()
void	loadFromXml (CConfiguration &config, TiXmlElement *kinChainsNode, CFrameContainer &container)
	Transforms <CHAIN> (xml object) into kinematic chain object. More...
void	setLength (int len)
	Returns the pose of the last link in the chain (in the base frame) More...
void	setName (std::string value)
void	update ()
	Updates denavit hartenberg matrices. More...
virtual	~CKinematicChain ()

Public Attributes
CDh *	dhParameters
	Array of denavit hartenberg parameters. More...
CFrame **	frames
	Array of frames associated with every link in the chain. More...
CFrame *	lastPoseBuffer
int	length
	Number of links in the chain. More...
double	totalArmLength

Protected Attributes
std::string	name
CMatrix	tmpMatrix

Detailed Description

Kinematic chain.

Definition at line 266 of file frame.h.

Constructor & Destructor Documentation

robotLibPbD::CKinematicChain::CKinematicChain

(

)

Definition at line 822 of file frame.cpp.

robotLibPbD::CKinematicChain::~CKinematicChain ( )

virtual

Definition at line 843 of file frame.cpp.

Member Function Documentation

CFrame * robotLibPbD::CKinematicChain::getByName

(

char *

str

)

Returns frame object if frame with name str exists in the chain.

Definition at line 645 of file frame.cpp.

CDh & robotLibPbD::CKinematicChain::getDhParameters

(

unsigned int

id

)

Definition at line 637 of file frame.cpp.

CFrame * robotLibPbD::CKinematicChain::getFrame

(

unsigned int

id

)

Definition at line 629 of file frame.cpp.

CFrame * robotLibPbD::CKinematicChain::getLastFrame

(

)

Definition at line 621 of file frame.cpp.

unsigned int robotLibPbD::CKinematicChain::getLength ( )

inline

Definition at line 304 of file frame.h.

std::string robotLibPbD::CKinematicChain::getName ( )

inline

Definition at line 273 of file frame.h.

void robotLibPbD::CKinematicChain::invalidate ( )

inline

Definition at line 445 of file frame.h.

void robotLibPbD::CKinematicChain::loadFromXml	(	CConfiguration &	config,
		TiXmlElement *	kinChainsNode,
		CFrameContainer &	container
	)

Transforms <CHAIN> (xml object) into kinematic chain object.

Definition at line 673 of file frame.cpp.

void robotLibPbD::CKinematicChain::setLength

(

int

len

)

Returns the pose of the last link in the chain (in the base frame)

Sets chain length and allocates memory

Definition at line 849 of file frame.cpp.

void robotLibPbD::CKinematicChain::setName ( std::string  value )

inline

Definition at line 272 of file frame.h.

void robotLibPbD::CKinematicChain::update ( )

inline

Updates denavit hartenberg matrices.

Definition at line 431 of file frame.h.

Member Data Documentation

CDh* robotLibPbD::CKinematicChain::dhParameters

Array of denavit hartenberg parameters.

Definition at line 276 of file frame.h.

CFrame** robotLibPbD::CKinematicChain::frames

Array of frames associated with every link in the chain.

Definition at line 278 of file frame.h.

CFrame* robotLibPbD::CKinematicChain::lastPoseBuffer

Definition at line 273 of file frame.h.

int robotLibPbD::CKinematicChain::length

Number of links in the chain.

Definition at line 279 of file frame.h.

std::string robotLibPbD::CKinematicChain::name

protected

Definition at line 269 of file frame.h.

CMatrix robotLibPbD::CKinematicChain::tmpMatrix

protected

Definition at line 270 of file frame.h.

double robotLibPbD::CKinematicChain::totalArmLength

Definition at line 281 of file frame.h.

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

• frame.h
• frame.cpp