blender/intern/itasc/kdl/segment.hpp

150 lines
4.8 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_SEGMENT_HPP
#define KDL_SEGMENT_HPP
#include "frames.hpp"
#include "inertia.hpp"
#include "joint.hpp"
#include <vector>
namespace KDL {
/**
* \brief 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 :
* - Joint
* - inertia: of the rigid body part of the Segment
* - Offset from the end of the joint to the tip of the segment:
* the joint is located at the root of the segment.
*
* @ingroup KinematicFamily
*/
class Segment {
friend class Chain;
private:
Inertia M;
Joint joint;
Frame f_tip;
public:
/**
* Constructor of the segment
*
* @param joint joint of the segment, default:
* Joint(Joint::None)
* @param f_tip frame from the end of the joint to the tip of
* the segment, default: Frame::Identity()
* @param M rigid body inertia of the segment, default: Inertia::Zero()
*/
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();
/**
* Request the pose of the segment, given the joint position q.
*
* @param q 1D position of the joint
*
* @return pose from the root to the tip of the segment
*/
Frame pose(const double* q)const;
/**
* Request the 6D-velocity of the tip of the segment, given
* the joint position q and the joint velocity qdot.
*
* @param q ND position of the joint
* @param qdot ND velocity of the joint
*
* @return 6D-velocity of the tip of the segment, expressed
*in the base-frame of the segment(root) and with the tip of
*the segment as reference point.
*/
Twist twist(const double* q,const double& qdot, int dof=0)const;
/**
* Request the 6D-velocity at a given point p, relative to base frame of the segment
* givven the joint velocity qdot.
*
* @param p reference point
* @param qdot ND velocity of the joint
*
* @return 6D-velocity at a given point p, expressed
* in the base-frame of the segment(root)
*/
Twist twist(const Vector& p, const double& qdot, int dof=0)const;
/**
* 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.
*
* @param f joint pose frame + reference point
* @param qdot ND velocity of the joint
*
* @return 6D-velocity at frame reference point, expressed
* in the base-frame of the segment(root)
*/
Twist twist(const Frame& f, const double& qdot, int dof)const;
/**
* Request the joint of the segment
*
*
* @return const reference to the joint of the segment
*/
const Joint& getJoint()const
{
return joint;
}
/**
* Request the inertia of the segment
*
*
* @return const reference to the inertia of the segment
*/
const Inertia& getInertia()const
{
return M;
}
/**
* Request the pose from the joint end to the tip of the
*segment.
*
* @return const reference to the joint end - segment tip pose.
*/
const Frame& getFrameToTip()const
{
return f_tip;
}
};
}//end of namespace KDL
#endif