98 lines
3.2 KiB
C++
98 lines
3.2 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
|
|
// Version: 1.0
|
|
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// URL: http://www.orocos.org/kdl
|
|
|
|
// This library is free software; you can redistribute it and/or
|
|
// modify it under the terms of the GNU Lesser General Public
|
|
// License as published by the Free Software Foundation; either
|
|
// version 2.1 of the License, or (at your option) any later version.
|
|
|
|
// This library is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
// Lesser General Public License for more details.
|
|
|
|
// You should have received a copy of the GNU Lesser General Public
|
|
// License along with this library; if not, write to the Free Software
|
|
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
|
|
#ifndef KDL_CHAIN_HPP
|
|
#define KDL_CHAIN_HPP
|
|
|
|
#include "segment.hpp"
|
|
#include <string>
|
|
#include <Eigen/StdVector>
|
|
|
|
namespace KDL {
|
|
/**
|
|
* \brief This class encapsulates a <strong>serial</strong> kinematic
|
|
* interconnection structure. It is build out of segments.
|
|
*
|
|
* @ingroup KinematicFamily
|
|
*/
|
|
class Chain {
|
|
private:
|
|
// Eigen allocator is needed for alignment of Eigen data types
|
|
std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
|
|
unsigned int nrOfJoints;
|
|
unsigned int nrOfSegments;
|
|
public:
|
|
/**
|
|
* The constructor of a chain, a new chain is always empty.
|
|
*
|
|
*/
|
|
Chain();
|
|
Chain(const Chain& in);
|
|
Chain& operator = (const Chain& arg);
|
|
|
|
/**
|
|
* Adds a new segment to the <strong>end</strong> of the chain.
|
|
*
|
|
* @param segment The segment to add
|
|
*/
|
|
void addSegment(const Segment& segment);
|
|
/**
|
|
* Adds a complete chain to the <strong>end</strong> of the chain
|
|
* The added chain is copied.
|
|
*
|
|
* @param chain The chain to add
|
|
*/
|
|
void addChain(const Chain& chain);
|
|
|
|
/**
|
|
* Request the total number of joints in the chain.\n
|
|
* <strong> Important:</strong> It is not the
|
|
* same as the total number of segments since a segment does not
|
|
* need to have a joint. This function is important when
|
|
* creating a KDL::JntArray to use with this chain.
|
|
* @return total nr of joints
|
|
*/
|
|
unsigned int getNrOfJoints()const {return nrOfJoints;};
|
|
/**
|
|
* Request the total number of segments in the chain.
|
|
* @return total number of segments
|
|
*/
|
|
unsigned int getNrOfSegments()const {return nrOfSegments;};
|
|
|
|
/**
|
|
* Request the nr'd segment of the chain. There is no boundary
|
|
* checking.
|
|
*
|
|
* @param nr the nr of the segment starting from 0
|
|
*
|
|
* @return a constant reference to the nr'd segment
|
|
*/
|
|
const Segment& getSegment(unsigned int nr)const;
|
|
|
|
virtual ~Chain();
|
|
};
|
|
|
|
|
|
|
|
}//end of namespace KDL
|
|
|
|
#endif
|