72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/** \file itasc/kdl/segment.cpp
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* \ingroup itasc
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*/
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "segment.hpp"
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namespace KDL {
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Segment::Segment(const Joint& _joint, const Frame& _f_tip, const Inertia& _M):
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M(_M),joint(_joint),
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f_tip(_f_tip)
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{
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}
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Segment::Segment(const Segment& in):
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M(in.M),joint(in.joint),
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f_tip(in.f_tip)
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{
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}
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Segment& Segment::operator=(const Segment& arg)
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{
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joint=arg.joint;
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M=arg.M;
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f_tip=arg.f_tip;
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return *this;
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}
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Segment::~Segment()
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{
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}
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Frame Segment::pose(const double* q)const
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{
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return joint.pose(q)*f_tip;
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}
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Twist Segment::twist(const double* q, const double& qdot, int dof)const
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{
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return joint.twist(qdot, dof).RefPoint(pose(q).p);
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}
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Twist Segment::twist(const Vector& p, const double& qdot, int dof)const
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{
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return joint.twist(qdot, dof).RefPoint(p);
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}
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Twist Segment::twist(const Frame& f, const double& qdot, int dof)const
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{
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return (f.M*joint.twist(qdot, dof)).RefPoint(f.p);
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}
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}//end of namespace KDL
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