Public Member Functions | Private Attributes | Friends | List of all members
KDL::Segment Class Reference

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...

#include <segment.hpp>

Public Member Functions

Frame getFrameToTip () const
 
const RigidBodyInertiagetInertia () const
 
const JointgetJoint () const
 
const std::string & getName () const
 
Segmentoperator= (const Segment &arg)
 
Frame pose (const double &q) const
 
 Segment (const std::string &name, const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
 
 Segment (const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
 
 Segment (const Segment &in)
 
void setFrameToTip (const Frame &f_tip_new)
 
void setInertia (const RigidBodyInertia &Iin)
 
Twist twist (const double &q, const double &qdot) const
 
virtual ~Segment ()
 

Private Attributes

Frame f_tip
 
RigidBodyInertia I
 
Joint joint
 
std::string name
 

Friends

class Chain
 

Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments.

A simple segment is described by the following properties :

Definition at line 46 of file segment.hpp.

Constructor & Destructor Documentation

KDL::Segment::Segment ( const std::string &  name,
const Joint joint = Joint(Joint::None),
const Frame f_tip = Frame::Identity(),
const RigidBodyInertia I = RigidBodyInertia::Zero() 
)
explicit

Constructor of the segment

Parameters
namename of the segment
jointjoint of the segment, default: Joint(Joint::None)
f_tipframe from the end of the joint to the tip of the segment, default: Frame::Identity()
Mrigid body inertia of the segment, default: Inertia::Zero()

Definition at line 24 of file segment.cpp.

KDL::Segment::Segment ( const Joint joint = Joint(Joint::None),
const Frame f_tip = Frame::Identity(),
const RigidBodyInertia I = RigidBodyInertia::Zero() 
)
explicit

Constructor of the segment

Parameters
jointjoint of the segment, default: Joint(Joint::None)
f_tipframe from the end of the joint to the tip of the segment, default: Frame::Identity()
Mrigid body inertia of the segment, default: Inertia::Zero()

Definition at line 31 of file segment.cpp.

KDL::Segment::Segment ( const Segment in)

Definition at line 38 of file segment.cpp.

KDL::Segment::~Segment ( )
virtual

Definition at line 53 of file segment.cpp.

Member Function Documentation

Frame KDL::Segment::getFrameToTip ( ) const
inline

Request the pose from the joint end to the tip of the segment.

Returns
the original parent end - segment end pose.

Definition at line 149 of file segment.hpp.

const RigidBodyInertia& KDL::Segment::getInertia ( ) const
inline

Request the inertia of the segment

Returns
const reference to the inertia of the segment

Definition at line 128 of file segment.hpp.

const Joint& KDL::Segment::getJoint ( ) const
inline

Request the joint of the segment

Returns
const reference to the joint of the segment

Definition at line 118 of file segment.hpp.

const std::string& KDL::Segment::getName ( ) const
inline

Request the name of the segment

Returns
const reference to the name of the segment

Definition at line 108 of file segment.hpp.

Segment & KDL::Segment::operator= ( const Segment arg)

Definition at line 44 of file segment.cpp.

Frame KDL::Segment::pose ( const double &  q) const

Request the pose of the segment, given the joint position q.

Parameters
q1D position of the joint
Returns
pose from the root to the tip of the segment

Definition at line 57 of file segment.cpp.

void KDL::Segment::setFrameToTip ( const Frame f_tip_new)

Set the pose from the joint end to the tip of the segment.

Parameters
f_tip_newpose from the joint end to the tip of the segment

Definition at line 67 of file segment.cpp.

void KDL::Segment::setInertia ( const RigidBodyInertia Iin)
inline

Request the inertia of the segment

Returns
const reference to the inertia of the segment

Definition at line 138 of file segment.hpp.

Twist KDL::Segment::twist ( const double &  q,
const double &  qdot 
) const

Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.

Parameters
q1D position of the joint
qdot1D velocity of the joint
Returns
6D-velocity of the tip of the segment, expressed in the base-frame of the segment(root) and with the tip of the segment as reference point.

Definition at line 62 of file segment.cpp.

Friends And Related Function Documentation

friend class Chain
friend

Definition at line 47 of file segment.hpp.

Member Data Documentation

Frame KDL::Segment::f_tip
private

Definition at line 52 of file segment.hpp.

RigidBodyInertia KDL::Segment::I
private

Definition at line 51 of file segment.hpp.

Joint KDL::Segment::joint
private

Definition at line 50 of file segment.hpp.

std::string KDL::Segment::name
private

Definition at line 49 of file segment.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:07:25