Blender  V3.3
chain.cpp
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1 
4 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 
6 // Version: 1.0
7 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
8 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
9 // URL: http://www.orocos.org/kdl
10 
11 // This library is free software; you can redistribute it and/or
12 // modify it under the terms of the GNU Lesser General Public
13 // License as published by the Free Software Foundation; either
14 // version 2.1 of the License, or (at your option) any later version.
15 
16 // This library is distributed in the hope that it will be useful,
17 // but WITHOUT ANY WARRANTY; without even the implied warranty of
18 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
19 // Lesser General Public License for more details.
20 
21 // You should have received a copy of the GNU Lesser General Public
22 // License along with this library; if not, write to the Free Software
23 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
24 
25 #include "chain.hpp"
26 
27 namespace KDL {
28  using namespace std;
29 
31  segments(0),
32  nrOfJoints(0),
33  nrOfSegments(0)
34  {
35  }
36 
37  Chain::Chain(const Chain& in):nrOfJoints(0),
38  nrOfSegments(0)
39  {
40  for(unsigned int i=0;i<in.getNrOfSegments();i++)
41  this->addSegment(in.getSegment(i));
42  }
43 
45  {
46  nrOfJoints=0;
47  nrOfSegments=0;
48  segments.resize(0);
49  for(unsigned int i=0;i<arg.nrOfSegments;i++)
50  addSegment(arg.getSegment(i));
51  return *this;
52 
53  }
54 
56  {
57  segments.push_back(segment);
58  nrOfSegments++;
59  nrOfJoints += segment.getJoint().getNDof();
60  }
61 
62  void Chain::addChain(const Chain& chain)
63  {
64  for(unsigned int i=0;i<chain.getNrOfSegments();i++)
65  this->addSegment(chain.getSegment(i));
66  }
67 
68  const Segment& Chain::getSegment(unsigned int nr) const
69  {
70  return segments[nr];
71  }
72 
74  {
75  }
76 
77 }
78 
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
Definition: chain.hpp:36
void addChain(const Chain &chain)
Definition: chain.cpp:62
const Segment & getSegment(unsigned int nr) const
Definition: chain.cpp:68
virtual ~Chain()
Definition: chain.cpp:73
Chain & operator=(const Chain &arg)
Definition: chain.cpp:44
void addSegment(const Segment &segment)
Definition: chain.cpp:55
unsigned int getNrOfSegments() const
Definition: chain.hpp:78
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
Definition: segment.hpp:46
Segment< FEdge *, Vec3r > segment
Definition: chain.cpp:27