23 #ifndef KDL_SEGMENT_HPP 24 #define KDL_SEGMENT_HPP 100 Twist twist(
const double& q,
const double& qdot)
const;
Segment & operator=(const Segment &arg)
Definition: segment.cpp:44
Frame f_tip
Definition: segment.hpp:52
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
Definition: segment.hpp:46
Joint joint
Definition: segment.hpp:50
RigidBodyInertia I
Definition: segment.hpp:51
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
const RigidBodyInertia & getInertia() const
Request the inertia of the segment.
Definition: segment.hpp:128
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
Frame getFrameToTip() const
Request the pose from the joint end to the tip of the segment.
Definition: segment.hpp:149
static Frame Identity()
Definition: frames.hpp:696
void setInertia(const RigidBodyInertia &Iin)
Request the inertia of the segment.
Definition: segment.hpp:138
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
represents both translational and rotational velocities.
Definition: frames.hpp:720
void setFrameToTip(const Frame &f_tip_new)
Set the pose from the joint end to the tip of the segment.
Definition: segment.cpp:67
Segment(const std::string &name, const Joint &joint=Joint(Joint::None), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
Constructor of the segment.
Definition: segment.cpp:24
Definition: articulatedbodyinertia.cpp:28
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
std::string name
Definition: segment.hpp:49
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: rigidbodyinertia.hpp:49
virtual ~Segment()
Definition: segment.cpp:53
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
const std::string & getName() const
Request the name of the segment.
Definition: segment.hpp:108
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition: joint.hpp:45
Twist twist(const double &q, const double &qdot) const
Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity ...
Definition: segment.cpp:62
Frame pose(const double &q) const
Request the 6D-pose between the beginning and the end of the joint at joint position q...
Definition: joint.cpp:76