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
	Segment (const std::string &name, const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Segment (const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::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) const
const std::string &	getName () const
const Joint &	getJoint () const
const RigidBodyInertia &	getInertia () const
void	setInertia (const RigidBodyInertia &Iin)
Frame	getFrameToTip () const
void	setFrameToTip (const Frame &f_tip_new)
const Frame &	getFrameToTipZero () const

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.

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()

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()

Segment() [3/3]

KDL::Segment::Segment

(

const Segment &

in

)

~Segment()

virtual KDL::Segment::~Segment ( )

virtual

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.

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

getInertia()

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

inline

Request the inertia of the segment

Returns

const reference to the inertia of the segment

getJoint()

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

inline

Request the joint of the segment

Returns

const reference to the joint of the segment

getName()

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

inline

Request the name of the segment

Returns

const reference to the name of the segment

operator=()

Segment & KDL::Segment::operator=

(

const Segment &

arg

)

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

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

setInertia()

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

inline

Request the inertia of the segment

Returns

const reference to the inertia of the segment

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.

Friends And Related Symbol Documentation

Chain

friend class Chain

friend

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

• build/orocos_kdl_install/include/kdl/segment.hpp