23 #ifndef KDL_SEGMENT_HPP
24 #define KDL_SEGMENT_HPP
88 Twist twist(
const double* q,
const double& qdot,
int dof=0)
const;
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
represents a frame transformation in 3D space (rotation + translation)
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
Segment & operator=(const Segment &arg)
const Frame & getFrameToTip() const
Frame pose(const double *q) const
Twist twist(const double *q, const double &qdot, int dof=0) const
Segment(const Joint &joint=Joint(), const Frame &f_tip=Frame::Identity(), const Inertia &M=Inertia::Zero())
const Joint & getJoint() const
const Inertia & getInertia() const
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.