1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
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
|
