forked from bartvdbraak/blender
96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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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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#ifndef KDL_CHAIN_HPP
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#define KDL_CHAIN_HPP
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#include "segment.hpp"
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#include <string>
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namespace KDL {
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/**
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* \brief This class encapsulates a <strong>serial</strong> kinematic
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* interconnection structure. It is build out of segments.
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*
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* @ingroup KinematicFamily
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*/
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class Chain {
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private:
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std::vector<Segment> segments;
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unsigned int nrOfJoints;
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unsigned int nrOfSegments;
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public:
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/**
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* The constructor of a chain, a new chain is always empty.
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*
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*/
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Chain();
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Chain(const Chain& in);
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Chain& operator = (const Chain& arg);
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/**
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* Adds a new segment to the <strong>end</strong> of the chain.
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*
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* @param segment The segment to add
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*/
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void addSegment(const Segment& segment);
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/**
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* Adds a complete chain to the <strong>end</strong> of the chain
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* The added chain is copied.
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*
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* @param chain The chain to add
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*/
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void addChain(const Chain& chain);
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/**
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* Request the total number of joints in the chain.\n
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* <strong> Important:</strong> It is not the
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* same as the total number of segments since a segment does not
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* need to have a joint. This function is important when
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* creating a KDL::JntArray to use with this chain.
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* @return total nr of joints
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*/
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unsigned int getNrOfJoints()const {return nrOfJoints;};
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/**
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* Request the total number of segments in the chain.
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* @return total number of segments
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*/
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unsigned int getNrOfSegments()const {return nrOfSegments;};
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/**
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* Request the nr'd segment of the chain. There is no boundary
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* checking.
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*
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* @param nr the nr of the segment starting from 0
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*
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* @return a constant reference to the nr'd segment
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*/
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const Segment& getSegment(unsigned int nr)const;
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virtual ~Chain();
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};
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}//end of namespace KDL
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#endif
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