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// 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_CHAIN_HPP
#define KDL_CHAIN_HPP
#include "segment.hpp"
#include <string>
#include <Eigen/StdVector>
namespace KDL {
/**
* \brief This class encapsulates a <strong>serial</strong> kinematic
* interconnection structure. It is build out of segments.
*
* @ingroup KinematicFamily
*/
class Chain {
private:
#if defined(__APPLE__)
# if MAC_OS_X_VERSION_MIN_REQUIRED <= 1050
std::vector<Segment> segments;
# else
// Eigen allocator is needed for alignment of Eigen data types
std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
# endif /* MAC_OS_X_VERSION_MIN_REQUIRED */
#else
// Eigen allocator is needed for alignment of Eigen data types
std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
#endif
unsigned int nrOfJoints;
unsigned int nrOfSegments;
public:
/**
* The constructor of a chain, a new chain is always empty.
*
*/
Chain();
Chain(const Chain& in);
Chain& operator = (const Chain& arg);
/**
* Adds a new segment to the <strong>end</strong> of the chain.
*
* @param segment The segment to add
*/
void addSegment(const Segment& segment);
/**
* Adds a complete chain to the <strong>end</strong> of the chain
* The added chain is copied.
*
* @param chain The chain to add
*/
void addChain(const Chain& chain);
/**
* Request the total number of joints in the chain.\n
* <strong> Important:</strong> It is not the
* same as the total number of segments since a segment does not
* need to have a joint. This function is important when
* creating a KDL::JntArray to use with this chain.
* @return total nr of joints
*/
unsigned int getNrOfJoints()const {return nrOfJoints;};
/**
* Request the total number of segments in the chain.
* @return total number of segments
*/
unsigned int getNrOfSegments()const {return nrOfSegments;};
/**
* Request the nr'd segment of the chain. There is no boundary
* checking.
*
* @param nr the nr of the segment starting from 0
*
* @return a constant reference to the nr'd segment
*/
const Segment& getSegment(unsigned int nr)const;
virtual ~Chain();
};
}//end of namespace KDL
#endif
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