Public Member Functions | Public Attributes | List of all members
robotLibPbD::CKinematicChainContainer Class Reference

Kinematic Robot Model. More...

#include <frame.h>

Public Member Functions

 CKinematicChainContainer ()
 
unsigned int getLength ()
 
void loadFromXml (CConfiguration &config, TiXmlElement *kinChainsNode, CFrameContainer &container)
 Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object) More...
 
void update ()
 Updates denavit hartenberg matrices of all chains. More...
 
virtual ~CKinematicChainContainer ()
 

Public Attributes

CKinematicChainchain
 Array of kinematic chains. More...
 
int length
 Number of kinematic chains. More...
 

Detailed Description

Kinematic Robot Model.

The kinematic model of the robot is given by a number of (connected) kinematic chains.

Definition at line 317 of file frame.h.

Constructor & Destructor Documentation

robotLibPbD::CKinematicChainContainer::CKinematicChainContainer ( )

Definition at line 885 of file frame.cpp.

robotLibPbD::CKinematicChainContainer::~CKinematicChainContainer ( )
virtual

Definition at line 891 of file frame.cpp.

Member Function Documentation

unsigned int robotLibPbD::CKinematicChainContainer::getLength ( )
inline

Definition at line 324 of file frame.h.

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

Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object)

Definition at line 902 of file frame.cpp.

void robotLibPbD::CKinematicChainContainer::update ( )
inline

Updates denavit hartenberg matrices of all chains.

Definition at line 425 of file frame.h.

Member Data Documentation

CKinematicChain* robotLibPbD::CKinematicChainContainer::chain

Array of kinematic chains.

Definition at line 322 of file frame.h.

int robotLibPbD::CKinematicChainContainer::length

Number of kinematic chains.

Definition at line 320 of file frame.h.


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


asr_kinematic_chain_optimizer
Author(s): Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij
autogenerated on Mon Jun 10 2019 12:35:36