forked from bartvdbraak/blender
69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
// 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
|
|
|
|
#include "segment.hpp"
|
|
|
|
namespace KDL {
|
|
|
|
Segment::Segment(const Joint& _joint, const Frame& _f_tip, const Inertia& _M):
|
|
joint(_joint),M(_M),
|
|
f_tip(_f_tip)
|
|
{
|
|
}
|
|
|
|
Segment::Segment(const Segment& in):
|
|
joint(in.joint),M(in.M),
|
|
f_tip(in.f_tip)
|
|
{
|
|
}
|
|
|
|
Segment& Segment::operator=(const Segment& arg)
|
|
{
|
|
joint=arg.joint;
|
|
M=arg.M;
|
|
f_tip=arg.f_tip;
|
|
return *this;
|
|
}
|
|
|
|
Segment::~Segment()
|
|
{
|
|
}
|
|
|
|
Frame Segment::pose(const double& q)const
|
|
{
|
|
return joint.pose(q)*f_tip;
|
|
}
|
|
|
|
Twist Segment::twist(const double& q, const double& qdot, int dof)const
|
|
{
|
|
return joint.twist(qdot, dof).RefPoint(pose(q).p);
|
|
}
|
|
|
|
Twist Segment::twist(const Vector& p, const double& qdot, int dof)const
|
|
{
|
|
return joint.twist(qdot, dof).RefPoint(p);
|
|
}
|
|
|
|
Twist Segment::twist(const Frame& f, const double& qdot, int dof)const
|
|
{
|
|
return (f.M*joint.twist(qdot, dof)).RefPoint(f.p);
|
|
}
|
|
}//end of namespace KDL
|
|
|