Blender V2.61 - r43446

segment.hpp

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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 
00023 #ifndef KDL_SEGMENT_HPP
00024 #define KDL_SEGMENT_HPP
00025 
00026 #include "frames.hpp"
00027 #include "inertia.hpp"
00028 #include "joint.hpp"
00029 #include <vector>
00030 
00031 namespace KDL {
00032 
00046     class Segment {
00047         friend class Chain;
00048     private:
00049         Joint joint;
00050         Inertia M;
00051         Frame f_tip;
00052 
00053     public:
00063         Segment(const Joint& joint=Joint(), const Frame& f_tip=Frame::Identity(),const Inertia& M = Inertia::Zero());
00064         Segment(const Segment& in);
00065         Segment& operator=(const Segment& arg);
00066 
00067         virtual ~Segment();
00068 
00076         Frame pose(const double& q)const;
00088         Twist twist(const double& q,const double& qdot, int dof=0)const;
00089 
00100         Twist twist(const Vector& p, const double& qdot, int dof=0)const;
00101 
00112         Twist twist(const Frame& f, const double& qdot, int dof)const;
00113 
00120         const Joint& getJoint()const
00121         {
00122             return joint;
00123         }
00130         const Inertia& getInertia()const
00131         {
00132             return M;
00133         }
00134 
00141         const Frame& getFrameToTip()const
00142         {
00143             return f_tip;
00144         }
00145 
00146     };
00147 }//end of namespace KDL
00148 
00149 #endif