KDL::Chain Class Reference

#include <src/chain.hpp>

Collaboration diagram for KDL::Chain:

Public Member Functions
	Chain ()
	The constructor of a chain, a new chain is always empty.
	Chain (const Chain &in)
Chain &	operator= (const Chain &arg)
void	addSegment (const Segment &segment)
	Adds a new segment to the end of the chain.
void	addChain (const Chain &chain)
	Adds a complete chain to the end of the chain The added chain is copied.
unsigned int	getNrOfJoints () const
	Request the total number of joints in the chain.
unsigned int	getNrOfSegments () const
	Request the total number of segments in the chain.
const Segment &	getSegment (unsigned int nr) const
	Request the nr'd segment of the chain.
Segment &	getSegment (unsigned int nr)
	Request the nr'd segment of the chain.
virtual	~Chain ()

Public Attributes
std::vector< Segment >	segments

Private Attributes
unsigned int	nrOfJoints
unsigned int	nrOfSegments

Detailed Description

 \brief This class encapsulates a <strong>serial</strong> kinematic
 interconnection structure. It is built out of segments.

Constructor & Destructor Documentation

Chain() [1/2]

KDL::Chain::Chain

(

)

The constructor of a chain, a new chain is always empty.

References nrOfJoints, nrOfSegments, and segments.

Referenced by addChain(), Chain(), and operator=().

Chain() [2/2]

KDL::Chain::Chain

(

const Chain &

in

)

References addSegment(), Chain(), getNrOfSegments(), getSegment(), nrOfJoints, nrOfSegments, and segments.

~Chain()

KDL::Chain::~Chain ( )

virtual

Member Function Documentation

addChain()

void KDL::Chain::addChain

(

const Chain &

chain

)

Adds a complete chain to the end of the chain The added chain is copied.

Parameters

chain

The chain to add

References addSegment(), Chain(), getNrOfSegments(), and getSegment().

addSegment()

void KDL::Chain::addSegment

(

const Segment &

segment

)

Adds a new segment to the end of the chain.

Parameters

segment

The segment to add

References KDL::Joint::Fixed, KDL::Segment::getJoint(), KDL::Joint::getType(), nrOfJoints, nrOfSegments, and segments.

Referenced by addChain(), Chain(), KDL::Tree::getChain(), and operator=().

getNrOfJoints()

unsigned int KDL::Chain::getNrOfJoints ( ) const

inline

Request the total number of joints in the chain.

Important: 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.

Returns

total nr of joints

References nrOfJoints.

getNrOfSegments()

unsigned int KDL::Chain::getNrOfSegments ( ) const

inline

Request the total number of segments in the chain.

Returns

total number of segments

References nrOfSegments.

Referenced by addChain(), KDL::Tree::addChain(), Chain(), and KDL::operator<<().

getSegment() [1/2]

Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

Request the nr'd segment of the chain.

There is no boundary checking.

Parameters

nr	the nr of the segment starting from 0

Returns

a reference to the nr'd segment

References segments.

getSegment() [2/2]

const Segment & KDL::Chain::getSegment

(

unsigned int

nr

)

const

Request the nr'd segment of the chain.

There is no boundary checking.

Parameters

nr	the nr of the segment starting from 0

Returns

a constant reference to the nr'd segment

References segments.

Referenced by addChain(), KDL::Tree::addChain(), Chain(), KDL::operator<<(), and operator=().

operator=()

Chain & KDL::Chain::operator=

(

const Chain &

arg

)

References addSegment(), Chain(), getSegment(), nrOfJoints, nrOfSegments, and segments.

Member Data Documentation

nrOfJoints

unsigned int KDL::Chain::nrOfJoints

private

Referenced by addSegment(), Chain(), Chain(), getNrOfJoints(), and operator=().

nrOfSegments

unsigned int KDL::Chain::nrOfSegments

private

Referenced by addSegment(), Chain(), Chain(), getNrOfSegments(), and operator=().

segments

std::vector<Segment> KDL::Chain::segments

Referenced by addSegment(), Chain(), Chain(), getSegment(), getSegment(), and operator=().

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The documentation for this class was generated from the following files:

• src/chain.hpp
• src/chain.cpp