chain.hpp

Go to the documentation of this file.

// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAIN_HPP
#define KDL_CHAIN_HPP

#include "segment.hpp"
#include <string>
#include <Eigen/StdVector>

namespace KDL {
    class Chain {
    private:
#if !defined(__APPLE__) && !defined(MAC_OS_X_VERSION_10_5)
        // Eigen allocator is needed for alignment of Eigen data types
        std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
#else
        std::vector<Segment> segments;
#endif
        unsigned int nrOfJoints;
        unsigned int nrOfSegments;
    public:
        Chain();
        Chain(const Chain& in);
        Chain& operator = (const Chain& arg);

        void addSegment(const Segment& segment);
        void addChain(const Chain& chain);

        unsigned int getNrOfJoints()const {return nrOfJoints;};
        unsigned int getNrOfSegments()const {return nrOfSegments;};

        const Segment& getSegment(unsigned int nr)const;

        virtual ~Chain();
    };



}//end of namespace KDL

#endif