Blender
V3.3
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This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments. More...
#include <segment.hpp>
Public Member Functions | |
Segment (const Joint &joint=Joint(), const Frame &f_tip=Frame::Identity(), const Inertia &M=Inertia::Zero()) | |
Segment (const Segment &in) | |
Segment & | operator= (const Segment &arg) |
virtual | ~Segment () |
Frame | pose (const double *q) const |
Twist | twist (const double *q, const double &qdot, int dof=0) const |
Twist | twist (const Vector &p, const double &qdot, int dof=0) const |
Twist | twist (const Frame &f, const double &qdot, int dof) const |
const Joint & | getJoint () const |
const Inertia & | getInertia () const |
const Frame & | getFrameToTip () const |
Friends | |
class | Chain |
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments.
A simple segment is described by the following properties :
Definition at line 46 of file segment.hpp.
KDL::Segment::Segment | ( | const Joint & | joint = Joint() , |
const Frame & | f_tip = Frame::Identity() , |
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const Inertia & | M = Inertia::Zero() |
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Constructor 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() |
Definition at line 27 of file segment.cpp.
KDL::Segment::Segment | ( | const Segment & | in | ) |
Definition at line 33 of file segment.cpp.
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virtual |
Definition at line 47 of file segment.cpp.
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inline |
Request the pose from the joint end to the tip of the segment.
Definition at line 141 of file segment.hpp.
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inline |
Request the inertia of the segment
Definition at line 130 of file segment.hpp.
References M.
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inline |
Request the joint of the segment
Definition at line 120 of file segment.hpp.
Referenced by KDL::ChainFkSolverPos_recursive::JntToCart().
Definition at line 39 of file segment.cpp.
Request the pose of the segment, given the joint position q.
q | 1D position of the joint |
Definition at line 51 of file segment.cpp.
References KDL::Joint::pose().
Referenced by KDL::ChainFkSolverPos_recursive::JntToCart(), and twist().
Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.
q | ND position of the joint |
qdot | ND velocity of the joint |
Definition at line 56 of file segment.cpp.
References pose(), KDL::Twist::RefPoint(), and KDL::Joint::twist().
Request the 6D-velocity at a given frame origin, relative to base frame of the segment assuming the frame rotation is the rotation of the joint.
f | joint pose frame + reference point |
qdot | ND velocity of the joint |
Definition at line 66 of file segment.cpp.
References KDL::Frame::M, KDL::Frame::p, KDL::Twist::RefPoint(), and KDL::Joint::twist().
Request the 6D-velocity at a given point p, relative to base frame of the segment givven the joint velocity qdot.
p | reference point |
qdot | ND velocity of the joint |
Definition at line 61 of file segment.cpp.
References KDL::Twist::RefPoint(), and KDL::Joint::twist().
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friend |
Definition at line 47 of file segment.hpp.