chain.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_CHAIN_HPP
23 #define KDL_CHAIN_HPP
24 
25 #include "segment.hpp"
26 #include <string>
27 
28 namespace KDL {
35  class Chain {
36  private:
37  unsigned int nrOfJoints;
38  unsigned int nrOfSegments;
39  public:
40  std::vector<Segment> segments;
45  Chain();
46  Chain(const Chain& in);
47  Chain& operator = (const Chain& arg);
48 
54  void addSegment(const Segment& segment);
61  void addChain(const Chain& chain);
62 
71  unsigned int getNrOfJoints()const {return nrOfJoints;};
76  unsigned int getNrOfSegments()const {return nrOfSegments;};
77 
86  const Segment& getSegment(unsigned int nr)const;
87 
96  Segment& getSegment(unsigned int nr);
97 
98  virtual ~Chain();
99  };
100 
101 
102 
103 }//end of namespace KDL
104 
105 #endif
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
Definition: segment.hpp:46
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
unsigned int nrOfSegments
Definition: chain.hpp:38
unsigned int getNrOfSegments() const
Definition: chain.hpp:76
void addSegment(const Segment &segment)
Definition: chain.cpp:54
const Segment & getSegment(unsigned int nr) const
Definition: chain.cpp:68
virtual ~Chain()
Definition: chain.cpp:78
unsigned int getNrOfJoints() const
Definition: chain.hpp:71
unsigned int nrOfJoints
Definition: chain.hpp:37
void addChain(const Chain &chain)
Definition: chain.cpp:62
std::vector< Segment > segments
Definition: chain.hpp:40
Chain & operator=(const Chain &arg)
Definition: chain.cpp:43


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autogenerated on Tue Sep 22 2020 03:17:50