KDL::Segment Class Reference

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

#include <segment.hpp>

Public Member Functions
Frame	getFrameToTip () const
const Frame &	getFrameToTipZero () const
const RigidBodyInertia &	getInertia () const
const Joint &	getJoint () const
const std::string &	getName () const
Segment &	operator= (const Segment &arg)
Frame	pose (const double &q) const
	Segment (const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Segment (const Segment &in)
	Segment (const std::string &name, const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
void	setFrameToTip (const Frame &f_tip_new)
void	setInertia (const RigidBodyInertia &Iin)
Twist	twist (const double &q, const double &qdot) const
virtual	~Segment ()

Private Attributes
Frame	f_tip
RigidBodyInertia	I
Joint	joint
std::string	name

Friends
class	Chain

Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body 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
• Rigid Body 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() [1/3]

KDL::Segment::Segment ( const std::string &  name, const Joint &  joint = Joint(Joint::Fixed), const Frame &  f_tip = Frame::Identity(), const RigidBodyInertia &  I = RigidBodyInertia::Zero()  )

explicit

Constructor of the segment

Parameters

name	name of the segment
joint	joint of the segment, default: Joint(Joint::Fixed)
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 24 of file segment.cpp.

Segment() [2/3]

KDL::Segment::Segment ( const Joint &  joint = Joint(Joint::Fixed), const Frame &  f_tip = Frame::Identity(), const RigidBodyInertia &  I = RigidBodyInertia::Zero()  )

explicit

Constructor of the segment

Parameters

joint	joint of the segment, default: Joint(Joint::Fixed)
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 31 of file segment.cpp.

Segment() [3/3]

KDL::Segment::Segment

(

const Segment &

in

)

Definition at line 38 of file segment.cpp.

~Segment()

KDL::Segment::~Segment ( )

virtual

Definition at line 53 of file segment.cpp.

Member Function Documentation

getFrameToTip()

Frame KDL::Segment::getFrameToTip ( ) const

inline

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

Returns

the original parent end - segment end pose.

Definition at line 149 of file segment.hpp.

getFrameToTipZero()

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

inline

Request the pose from the end of the joint to the tip of the segment at joint position 0.

Returns

const reference to the pose from the end of the joint to the tip of the segment at joint position 0

Definition at line 170 of file segment.hpp.

getInertia()

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

inline

Request the inertia of the segment

Returns

const reference to the inertia of the segment

Definition at line 128 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 118 of file segment.hpp.

getName()

const std::string& KDL::Segment::getName ( ) const

inline

Request the name of the segment

Returns

const reference to the name of the segment

Definition at line 108 of file segment.hpp.

operator=()

Segment & KDL::Segment::operator=

(

const Segment &

arg

)

Definition at line 44 of file segment.cpp.

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 57 of file segment.cpp.

setFrameToTip()

void KDL::Segment::setFrameToTip

(

const Frame &

f_tip_new

)

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

Parameters

f_tip_new

pose from the joint end to the tip of the segment

Definition at line 67 of file segment.cpp.

setInertia()

void KDL::Segment::setInertia ( const RigidBodyInertia &  Iin )

inline

Request the inertia of the segment

Returns

const reference to the inertia of the segment

Definition at line 138 of file segment.hpp.

twist()

Twist KDL::Segment::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 qdot.

Parameters

q	1D position of the joint
qdot	1D 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 62 of file segment.cpp.

Friends And Related Function Documentation

Chain

friend class Chain

friend

Definition at line 47 of file segment.hpp.

Member Data Documentation

f_tip

Frame KDL::Segment::f_tip

private

Definition at line 52 of file segment.hpp.

I

RigidBodyInertia KDL::Segment::I

private

Definition at line 51 of file segment.hpp.

joint

Joint KDL::Segment::joint

private

Definition at line 50 of file segment.hpp.

name

std::string KDL::Segment::name

private

Definition at line 49 of file segment.hpp.

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

• segment.hpp
• segment.cpp