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23 #ifndef KDL_SEGMENT_HPP
24 #define KDL_SEGMENT_HPP
100 Twist twist(
const double& q,
const double& qdot)
const;
const Joint & getJoint() const
void setFrameToTip(const Frame &f_tip_new)
6D Inertia of a rigid body
Frame pose(const double &q) const
represents both translational and rotational velocities.
const Frame & getFrameToTipZero() const
Frame pose(const double &q) const
represents a frame transformation in 3D space (rotation + translation)
Frame getFrameToTip() const
void setInertia(const RigidBodyInertia &Iin)
Twist twist(const double &q, const double &qdot) const
static RigidBodyInertia Zero()
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body ine...
const std::string & getName() const
Segment & operator=(const Segment &arg)
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
const RigidBodyInertia & getInertia() const
Segment(const std::string &name, const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())