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 <segment.hpp>

List of all members.

Public Member Functions
const Frame &	getFrameToTip () const
	Request the pose from the joint end to the tip of the segment.
const RigidBodyInertia &	getInertia () const
	Request the inertia of the segment.
const Joint &	getJoint () const
	Request the joint of the segment.
const std::string &	getName () const
	Request the name of the segment.
Segment &	operator= (const Segment &arg)
Frame	pose (const double &q) const
	Request the pose of the segment, given the joint position q.
	Segment (const Segment &in)
	Segment (const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Constructor of the 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.
void	setInertia (const RigidBodyInertia &Iin)
	Request the inertia of the segment.
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.
virtual	~Segment ()
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.

Definition at line 46 of file segment.hpp.

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()
	I	rigid body inertia of the segment, default: Inertia::Zero()

Definition at line 24 of file Robot/App/kdl_cp/Segment.cpp.

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()
	I	rigid body inertia of the segment, default: Inertia::Zero()

Definition at line 31 of file Robot/App/kdl_cp/Segment.cpp.

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

Definition at line 38 of file Robot/App/kdl_cp/Segment.cpp.

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

Definition at line 53 of file Robot/App/kdl_cp/Segment.cpp.

Member Function Documentation

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

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

Returns:: const reference to the joint end - segment tip pose.

Definition at line 149 of file segment.hpp.

Referenced by Robot::Robot6Axis::Save().

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

Request the inertia of the segment.

Returns:: const reference to the inertia of the segment

Definition at line 128 of file segment.hpp.

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), and KDL::ChainDynParam::JntToMass().

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

Request the joint of the segment.

Returns:: const reference to the joint of the segment

Definition at line 118 of file segment.hpp.

Referenced by KDL::Tree::addSegment(), KDL::Chain::addSegment(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::Tree::getChain(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::ChainDynParam::JntToMass().

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

Request the name of the segment.

Returns:: const reference to the name of the segment

Definition at line 108 of file segment.hpp.

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

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

Definition at line 44 of file Robot/App/kdl_cp/Segment.cpp.

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

Definition at line 57 of file Robot/App/kdl_cp/Segment.cpp.

References KDL::Joint::pose().

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::Tree::getChain(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::ChainDynParam::JntToMass().

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

Request the inertia of the segment.

Returns:: const reference to the inertia of the segment

Definition at line 138 of file segment.hpp.

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.

Definition at line 62 of file Robot/App/kdl_cp/Segment.cpp.

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

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::ChainDynParam::JntToMass().

Friends And Related Function Documentation

friend class Chain [friend]

Definition at line 47 of file segment.hpp.

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

KDL::Segment Class Reference

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation