KDL 1.5.1
chain.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAIN_HPP
23#define KDL_CHAIN_HPP
24
25#include "segment.hpp"
26#include <string>
27
28namespace KDL {
35 class Chain {
36 private:
37 unsigned int nrOfJoints;
38 unsigned int nrOfSegments;
39 public:
40 std::vector<Segment> segments;
45 Chain();
46 Chain(const Chain& in);
47 Chain& operator = (const Chain& arg);
48
54 void addSegment(const Segment& segment);
61 void addChain(const Chain& chain);
62
71 unsigned int getNrOfJoints()const {return nrOfJoints;};
76 unsigned int getNrOfSegments()const {return nrOfSegments;};
77
86 const Segment& getSegment(unsigned int nr)const;
87
96 Segment& getSegment(unsigned int nr);
97
98 virtual ~Chain();
99 };
100
101
102
103}//end of namespace KDL
104
105#endif
Definition: chain.hpp:35
void addChain(const Chain &chain)
Adds a complete chain to the end of the chain The added chain is copied.
Definition: chain.cpp:61
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:67
unsigned int nrOfJoints
Definition: chain.hpp:37
Chain()
The constructor of a chain, a new chain is always empty.
Definition: chain.cpp:26
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
virtual ~Chain()
Definition: chain.cpp:77
Chain & operator=(const Chain &arg)
Definition: chain.cpp:42
void addSegment(const Segment &segment)
Adds a new segment to the end of the chain.
Definition: chain.cpp:53
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
std::vector< Segment > segments
Definition: chain.hpp:40
unsigned int nrOfSegments
Definition: chain.hpp:38
Definition: segment.hpp:46
Definition: articulatedbodyinertia.cpp:26