KDL::Segment Class Reference

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...

#include <src/segment.hpp>

Collaboration diagram for KDL::Segment:

[legend]

List of all members.

Public Member Functions
	Segment (const std::string &name, const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Constructor of the segment.
	Segment (const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Constructor of the segment.
	Segment (const Segment &in)
Segment &	operator= (const Segment &arg)
virtual	~Segment ()
Frame	pose (const double &q) const
	Request the pose of the segment, given the joint position q.
Twist	twist (const double &q, const double &qdot) const
	Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.
const std::string &	getName () const
	Request the name of the segment.
const Joint &	getJoint () const
	Request the joint of the segment.
const RigidBodyInertia &	getInertia () const
	Request the inertia of the segment.
void	setInertia (const RigidBodyInertia &Iin)
	Request the inertia of the segment.
Frame	getFrameToTip () const
	Request the pose from the joint end to the tip of the segment.
Private Attributes
std::string	name
Joint	joint
RigidBodyInertia	I
Frame	f_tip
Friends
class	Chain

Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments.

A simple segment is described by the following properties :

Joint
Rigid Body Inertia: of the rigid body part of the Segment
Offset from the end of the joint to the tip of the segment: the joint is located at the root of the segment.

Constructor & Destructor Documentation

KDL::Segment::Segment	(	const std::string &	name,
		const Joint &	joint = `Joint(Joint::None)`,
		const Frame &	f_tip = `Frame::Identity()`,
		const RigidBodyInertia &	I = `RigidBodyInertia::Zero()`
	)

Constructor of the segment.

Parameters:

	name	name of the segment
	joint	joint of the segment, default: Joint(Joint::None)
	f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
	M	rigid body inertia of the segment, default: Inertia::Zero()

KDL::Segment::Segment	(	const Joint &	joint = `Joint(Joint::None)`,
		const Frame &	f_tip = `Frame::Identity()`,
		const RigidBodyInertia &	I = `RigidBodyInertia::Zero()`
	)

Constructor of the segment.

Parameters:

	joint	joint of the segment, default: Joint(Joint::None)
	f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
	M	rigid body inertia of the segment, default: Inertia::Zero()

KDL::Segment::Segment ( const Segment & in )

KDL::Segment::~Segment ( ) [virtual]

Member Function Documentation

Frame KDL::Segment::getFrameToTip ( ) const [inline]

Request the pose from the joint end to the tip of the segment.

Returns:: the original parent end - segment end pose.

References f_tip, joint, and KDL::Joint::pose().

const RigidBodyInertia& KDL::Segment::getInertia ( ) const [inline]

Request the inertia of the segment.

Returns:: const reference to the inertia of the segment

References I.

Referenced by KDL::ChainIdSolver_RNE::CartToJnt().

const Joint& KDL::Segment::getJoint ( ) const [inline]

Request the joint of the segment.

Returns:: const reference to the joint of the segment

References joint.

Referenced by KDL::Tree::addSegment(), KDL::Chain::addSegment(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::Tree::getChain(), and KDL::ChainJntToJacSolver::JntToJac().

const std::string& KDL::Segment::getName ( ) const [inline]

Request the name of the segment.

Returns:: const reference to the name of the segment

Referenced by KDL::Tree::addChain(), and KDL::Tree::addSegment().

Segment & KDL::Segment::operator= ( const Segment & arg )

References f_tip, I, joint, and name.

Frame KDL::Segment::pose ( const double & q ) const

Request the pose of the segment, given the joint position q.

Parameters:

q

1D position of the joint

Returns:: pose from the root to the tip of the segment

References f_tip, joint, and KDL::Joint::pose().

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::Tree::getChain(), and KDL::ChainJntToJacSolver::JntToJac().

void KDL::Segment::setInertia ( const RigidBodyInertia & Iin ) [inline]

Request the inertia of the segment.

Returns:: const reference to the inertia of the segment

References I.

Twist KDL::Segment::twist	(	const double &	q,
		const double &	qdot
	)			const

Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.

Parameters:

	q	1D position of the joint
	qdot	1D velocity of the joint

Returns:: 6D-velocity of the tip of the segment, expressed in the base-frame of the segment(root) and with the tip of the segment as reference point.

References f_tip, joint, KDL::Frame::M, KDL::Frame::p, KDL::Joint::pose(), KDL::Twist::RefPoint(), and KDL::Joint::twist().

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), and KDL::ChainJntToJacSolver::JntToJac().