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Diffstat (limited to 'intern/itasc/kdl/segment.hpp')
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diff --git a/intern/itasc/kdl/segment.hpp b/intern/itasc/kdl/segment.hpp new file mode 100644 index 00000000000..7c82ab418fa --- /dev/null +++ b/intern/itasc/kdl/segment.hpp @@ -0,0 +1,149 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +#ifndef KDL_SEGMENT_HPP +#define KDL_SEGMENT_HPP + +#include "frames.hpp" +#include "inertia.hpp" +#include "joint.hpp" +#include <vector> + +namespace KDL { + + /** + * \brief 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. + * + * @ingroup KinematicFamily + */ + class Segment { + friend class Chain; + private: + Joint joint; + Inertia M; + Frame f_tip; + + public: + /** + * Constructor of the segment + * + * @param joint joint of the segment, default: + * Joint(Joint::None) + * @param f_tip frame from the end of the joint to the tip of + * the segment, default: Frame::Identity() + * @param M rigid body inertia of the segment, default: Inertia::Zero() + */ + 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(); + + /** + * Request the pose of the segment, given the joint position q. + * + * @param q 1D position of the joint + * + * @return pose from the root to the tip of the segment + */ + Frame pose(const double& q)const; + /** + * Request the 6D-velocity of the tip of the segment, given + * the joint position q and the joint velocity qdot. + * + * @param q ND position of the joint + * @param qdot ND velocity of the joint + * + * @return 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. + */ + Twist twist(const double& q,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. + * + * @param p reference point + * @param qdot ND velocity of the joint + * + * @return 6D-velocity at a given point p, expressed + * in the base-frame of the segment(root) + */ + Twist twist(const Vector& p, const double& qdot, int dof=0)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. + * + * @param f joint pose frame + reference point + * @param qdot ND velocity of the joint + * + * @return 6D-velocity at frame reference point, expressed + * in the base-frame of the segment(root) + */ + Twist twist(const Frame& f, const double& qdot, int dof)const; + + /** + * Request the joint of the segment + * + * + * @return const reference to the joint of the segment + */ + const Joint& getJoint()const + { + return joint; + } + /** + * Request the inertia of the segment + * + * + * @return const reference to the inertia of the segment + */ + const Inertia& getInertia()const + { + return M; + } + + /** + * Request the pose from the joint end to the tip of the + *segment. + * + * @return const reference to the joint end - segment tip pose. + */ + const Frame& getFrameToTip()const + { + return f_tip; + } + + }; +}//end of namespace KDL + +#endif |