KDL::Segment Class Reference

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments. More...

#include <segment.hpp>

Public Member Functions
	Segment (const Joint &joint=Joint(), const Frame &f_tip=Frame::Identity(), const Inertia &M=Inertia::Zero())
	Segment (const Segment &in)
Segment &	operator= (const Segment &arg)
virtual	~Segment ()
Frame	pose (const double *q) const
Twist	twist (const double *q, const double &qdot, int dof=0) const
Twist	twist (const Vector &p, const double &qdot, int dof=0) const
Twist	twist (const Frame &f, const double &qdot, int dof) const
const Joint &	getJoint () const
const Inertia &	getInertia () const
const Frame &	getFrameToTip () const

Friends
class	Chain

Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments.

A simple segment is described by the following properties :

• Joint
• inertia: of the rigid body part of the Segment
• Offset from the end of the joint to the tip of the segment: the joint is located at the root of the segment.

Definition at line 46 of file segment.hpp.

Constructor & Destructor Documentation

Segment() [1/2]

KDL::Segment::Segment	(	const Joint &	joint = Joint(),
		const Frame &	f_tip = Frame::Identity(),
		const Inertia &	M = Inertia::Zero() )

Constructor of the segment

Parameters

joint	joint of the segment, default: Joint(Joint::None)
f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
M	rigid body inertia of the segment, default: Inertia::Zero()

Definition at line 27 of file segment.cpp.

Referenced by Chain, operator=(), and Segment().

Segment() [2/2]

KDL::Segment::Segment

(

const Segment &

in

)

Definition at line 33 of file segment.cpp.

References Segment().

~Segment()

KDL::Segment::~Segment ( )

virtual

Definition at line 47 of file segment.cpp.

Member Function Documentation

getFrameToTip()

const Frame & KDL::Segment::getFrameToTip ( ) const

inline

Request the pose from the joint end to the tip of the segment.

Returns

const reference to the joint end - segment tip pose.

Definition at line 141 of file segment.hpp.

getInertia()

const Inertia & KDL::Segment::getInertia ( ) const

inline

Request the inertia of the segment

Returns

const reference to the inertia of the segment

Definition at line 130 of file segment.hpp.

getJoint()

const Joint & KDL::Segment::getJoint ( ) const

inline

Request the joint of the segment

Returns

const reference to the joint of the segment

Definition at line 120 of file segment.hpp.

operator=()

Segment & KDL::Segment::operator=

(

const Segment &

arg

)

Definition at line 39 of file segment.cpp.

References Segment().

pose()

Frame KDL::Segment::pose

(

const double *

q

)

const

Request the pose of the segment, given the joint position q.

Parameters

q	1D position of the joint

Returns

pose from the root to the tip of the segment

Definition at line 51 of file segment.cpp.

Referenced by twist().

twist() [1/3]

Twist KDL::Segment::twist	(	const double *	q,
		const double &	qdot,
		int	dof = 0 ) const

Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.

Parameters

q	ND position of the joint
qdot	ND velocity of the joint

Returns

6D-velocity of the tip of the segment, expressed in the base-frame of the segment(root) and with the tip of the segment as reference point.

Definition at line 56 of file segment.cpp.

References pose(), and KDL::Twist::RefPoint().

twist() [2/3]

Twist KDL::Segment::twist	(	const Frame &	f,
		const double &	qdot,
		int	dof ) const

Request the 6D-velocity at a given frame origin, relative to base frame of the segment assuming the frame rotation is the rotation of the joint.

Parameters

f	joint pose frame + reference point
qdot	ND velocity of the joint

Returns

6D-velocity at frame reference point, expressed in the base-frame of the segment(root)

Definition at line 66 of file segment.cpp.

References KDL::Frame::M, KDL::Frame::p, and KDL::Twist::RefPoint().

twist() [3/3]

Twist KDL::Segment::twist	(	const Vector &	p,
		const double &	qdot,
		int	dof = 0 ) const

Request the 6D-velocity at a given point p, relative to base frame of the segment givven the joint velocity qdot.

Parameters

p	reference point
qdot	ND velocity of the joint

Returns

6D-velocity at a given point p, expressed in the base-frame of the segment(root)

Definition at line 61 of file segment.cpp.

References KDL::Twist::RefPoint().

Friends And Related Symbol Documentation

Chain

friend class Chain

friend

Definition at line 47 of file segment.hpp.

References Chain, KDL::Frame::Identity(), Segment(), and KDL::Inertia::Zero().

Referenced by Chain.

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

• segment.hpp
• segment.cpp