Kinematic Families
[Kinematics and Dynamics Library]

All classes to support kinematic families. More...

All classes to support kinematic families.

The Kinematic Families classes range from the basic building blocks (KDL::Joint and KDL::Segment) and their interconnected kinematic structures (KDL::Chain, KDL::Tree and KDL::Graph), to the solver algorithms for the kinematics and dynamics of particular kinematic families.

A kinematic family is a set of kinematic structures that have similar properties, such as the same interconnection topology, the same numerical or analytical solver algorithms, etc. Different members of the same kinematic family differ only by the concrete values of their kinematic and dynamic properties (link lengths, mass, etc.).

Each kinematic structure is built from one or more Segments (KDL::Segment). A KDL::Chain is a serial connection of these segments; a KDL:Tree is a tree-structured interconnection; and a KDL:Graph is a kinematic structure with a general graph topology. (The current implementation supports only KDL::Chain.)

A KDL::Segment contains a KDL::Joint and an offset frame ("link length", defined by a KDL::Frame), that represents the geometric pose between the KDL::Joint on the previous segment and its own KDL::Joint.

A list of all the classes is available on the modules page: Kinematic Families