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23 #ifndef KDL_SEGMENT_HPP
24 #define KDL_SEGMENT_HPP
100 Twist twist(
const double& q,
const double& qdot)
const;
static Frame Identity()
Definition: frames.inl:695
Frame f_tip
Definition: segment.hpp:52
Frame Inverse() const
Gives back inverse transformation of a Frame.
Definition: frames.inl:422
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
Twist twist(const double &qdot) const
Request the resulting 6D-velocity with a joint velocity qdot.
Definition: joint.cpp:106
Vector p
origine of the Frame
Definition: frames.hpp:572
RigidBodyInertia I
Definition: segment.hpp:51
void setFrameToTip(const Frame &f_tip_new)
Set the pose from the joint end to the tip of the segment.
Definition: segment.cpp:67
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
Joint joint
Definition: segment.hpp:50
Definition: articulatedbodyinertia.cpp:28
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
represents both translational and rotational velocities.
Definition: frames.hpp:720
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
Definition: frames.hpp:570
Frame getFrameToTip() const
Request the pose from the joint end to the tip of the segment.
Definition: segment.hpp:149
void setInertia(const RigidBodyInertia &Iin)
Request the inertia of the segment.
Definition: segment.hpp:138
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
@ None
Definition: joint.hpp:47
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition: rigidbodyinertia.hpp:49
Definition: segment.hpp:46
Twist RefPoint(const Vector &v_base_AB) const
Changes the reference point of the twist.
Definition: frames.inl:302
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
const std::string & getName() const
Request the name of the segment.
Definition: segment.hpp:108
virtual ~Segment()
Definition: segment.cpp:53
Segment & operator=(const Segment &arg)
Definition: segment.cpp:44
std::string name
Definition: segment.hpp:49
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
const RigidBodyInertia & getInertia() const
Request the inertia of the segment.
Definition: segment.hpp:128