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/** \file itasc/kdl/segment.cpp
* \ingroup itasc
*/
// 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
#include "segment.hpp"
namespace KDL {
Segment::Segment(const Joint& _joint, const Frame& _f_tip, const Inertia& _M):
M(_M),joint(_joint),
f_tip(_f_tip)
{
}
Segment::Segment(const Segment& in):
M(in.M),joint(in.joint),
f_tip(in.f_tip)
{
}
Segment& Segment::operator=(const Segment& arg)
{
joint=arg.joint;
M=arg.M;
f_tip=arg.f_tip;
return *this;
}
Segment::~Segment()
{
}
Frame Segment::pose(const double* q)const
{
return joint.pose(q)*f_tip;
}
Twist Segment::twist(const double* q, const double& qdot, int dof)const
{
return joint.twist(qdot, dof).RefPoint(pose(q).p);
}
Twist Segment::twist(const Vector& p, const double& qdot, int dof)const
{
return joint.twist(qdot, dof).RefPoint(p);
}
Twist Segment::twist(const Frame& f, const double& qdot, int dof)const
{
return (f.M*joint.twist(qdot, dof)).RefPoint(f.p);
}
}//end of namespace KDL
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