KDL::Chain Class Reference

This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...

#include <chain.hpp>

Public Member Functions
	Chain ()
	Chain (const Chain &in)
Chain &	operator= (const Chain &arg)
void	addSegment (const Segment &segment)
void	addChain (const Chain &chain)
unsigned int	getNrOfJoints () const
unsigned int	getNrOfSegments () const
const Segment &	getSegment (unsigned int nr) const
virtual	~Chain ()

Detailed Description

This class encapsulates a serial kinematic interconnection structure. It is build out of segments.

Definition at line 36 of file chain.hpp.

Constructor & Destructor Documentation

Chain() [1/2]

KDL::Chain::Chain

(

)

The constructor of a chain, a new chain is always empty.

Definition at line 30 of file chain.cpp.

Chain() [2/2]

KDL::Chain::Chain

(

const Chain &

in

)

Definition at line 37 of file chain.cpp.

References addSegment(), and getSegment().

~Chain()

KDL::Chain::~Chain ( )

virtual

Definition at line 73 of file chain.cpp.

Member Function Documentation

addChain()

void KDL::Chain::addChain

(

const Chain &

chain

)

Adds a complete chain to the end of the chain The added chain is copied.

Parameters

chain

The chain to add

Definition at line 62 of file chain.cpp.

References addSegment(), getNrOfSegments(), and getSegment().

addSegment()

void KDL::Chain::addSegment

(

const Segment &

segment

)

Adds a new segment to the end of the chain.

Parameters

segment

The segment to add

Definition at line 55 of file chain.cpp.

Referenced by addChain(), Chain(), iTaSC::Distance::Distance(), and operator=().

getNrOfJoints()

unsigned int KDL::Chain::getNrOfJoints ( ) const

inline

Request the total number of joints in the chain.
Important: It is not the same as the total number of segments since a segment does not need to have a joint. This function is important when creating a KDL::JntArray to use with this chain.

Returns

total nr of joints

Definition at line 73 of file chain.hpp.

Referenced by KDL::ChainFkSolverPos_recursive::JntToCart(), and KDL::ChainJntToJacSolver::JntToJac().

getNrOfSegments()

unsigned int KDL::Chain::getNrOfSegments ( ) const

inline

Request the total number of segments in the chain.

Returns

total number of segments

Definition at line 78 of file chain.hpp.

Referenced by addChain(), KDL::Tree::addChain(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::operator<<().

getSegment()

const Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

const

Request the nr'd segment of the chain. There is no boundary checking.

Parameters

nr	the nr of the segment starting from 0

Returns

a constant reference to the nr'd segment

Definition at line 68 of file chain.cpp.

Referenced by addChain(), KDL::Tree::addChain(), Chain(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::operator<<(), and operator=().

operator=()

Chain & KDL::Chain::operator=

(

const Chain &

arg

)

Definition at line 44 of file chain.cpp.

References addSegment(), and getSegment().

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The documentation for this class was generated from the following files:

• chain.hpp
• chain.cpp