KDL::Chain Class Reference

This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...

#include <chain.hpp>

List of all members.

Public Member Functions
	Chain ()
	Chain (const Chain &in)
Chain &	operator= (const Chain &arg)
void	addSegment (const Segment &segment)
void	addChain (const Chain &chain)
unsigned int	getNrOfJoints () const
unsigned int	getNrOfSegments () const
const Segment &	getSegment (unsigned int nr) const
virtual	~Chain ()

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Detailed Description

This class encapsulates a serial kinematic interconnection structure. It is build out of segments.

Definition at line 36 of file chain.hpp.

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Constructor & Destructor Documentation

KDL::Chain::Chain

(

)

The constructor of a chain, a new chain is always empty.

Definition at line 30 of file chain.cpp.

KDL::Chain::Chain

(

const Chain &

in

)

Definition at line 37 of file chain.cpp.

References addSegment(), getNrOfSegments(), getSegment(), and i.

KDL::Chain::~Chain

(

)

[virtual]

Definition at line 73 of file chain.cpp.

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Member Function Documentation

void KDL::Chain::addChain

(

const Chain &

chain

)

Adds a complete chain to the end of the chain The added chain is copied.

Parameters:

chain

The chain to add

Definition at line 62 of file chain.cpp.

References addSegment(), getNrOfSegments(), getSegment(), and i.

void KDL::Chain::addSegment

(

const Segment &

segment

)

Adds a new segment to the end of the chain.

Parameters:

segment

The segment to add

Definition at line 55 of file chain.cpp.

References KDL::Segment::getJoint(), and KDL::Joint::getNDof().

Referenced by addChain(), Chain(), and operator=().

unsigned int KDL::Chain::getNrOfJoints

(

)

const [inline]

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.

Returns:

total nr of joints

Definition at line 77 of file chain.hpp.

Referenced by KDL::ChainFkSolverPos_recursive::JntToCart(), and KDL::ChainJntToJacSolver::JntToJac().

unsigned int KDL::Chain::getNrOfSegments

(

)

const [inline]

Request the total number of segments in the chain.

Returns:

total number of segments

Definition at line 82 of file chain.hpp.

Referenced by KDL::Tree::addChain(), addChain(), Chain(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::operator<<().

const Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

const

Request the nr'd segment of the chain. There is no boundary checking.

Parameters:

nr	the nr of the segment starting from 0

Returns:

a constant reference to the nr'd segment

Definition at line 68 of file chain.cpp.

Referenced by KDL::Tree::addChain(), addChain(), Chain(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::operator<<(), and operator=().

Chain & KDL::Chain::operator=

(

const Chain &

arg

)

Definition at line 44 of file chain.cpp.

References addSegment(), getSegment(), and i.

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

• chain.hpp
• chain.cpp