This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...

#include <src/segment.hpp>

Collaboration diagram for KDL::Segment:

[legend]

Public Member Functions
	Segment (const std::string &name, const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Constructor of the segment. More...

	Segment (const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
	Constructor of the segment. More...

	Segment (const Segment &in)

Segment &	operator= (const Segment &arg)

virtual	~Segment ()

Frame	pose (const double &q) const
	Request the pose of the segment, given the joint position q. More...

Twist	twist (const double &q, const double &qdot) const
	Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot. More...

const std::string &	getName () const
	Request the name of the segment. More...

const Joint &	getJoint () const
	Request the joint of the segment. More...

const RigidBodyInertia &	getInertia () const
	Request the inertia of the segment. More...

void	setInertia (const RigidBodyInertia &Iin)
	Request the inertia of the segment. More...

Frame	getFrameToTip () const
	Request the pose from the joint end to the tip of the segment. More...

void	setFrameToTip (const Frame &f_tip_new)
	Set the pose from the joint end to the tip of the segment. More...

Private Attributes
std::string	name

Joint	joint

RigidBodyInertia	I

Frame	f_tip

Friends
class	Chain

Detailed Description

This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body 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
Rigid Body 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.

Constructor & Destructor Documentation

◆ Segment() [1/3]

KDL::Segment::Segment	(	const std::string &	name,
		const Joint &	joint = `Joint(Joint::Fixed)`,
		const Frame &	f_tip = `Frame::Identity()`,
		const RigidBodyInertia &	I = `RigidBodyInertia::Zero()`
	)

explicit

Constructor of the segment.

Parameters

name	name of the segment
joint	joint of the segment, default: Joint(Joint::Fixed)
f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
M	rigid body inertia of the segment, default: Inertia::Zero()

◆ Segment() [2/3]

KDL::Segment::Segment	(	const Joint &	joint = `Joint(Joint::Fixed)`,
		const Frame &	f_tip = `Frame::Identity()`,
		const RigidBodyInertia &	I = `RigidBodyInertia::Zero()`
	)

explicit

Constructor of the segment.

Parameters

joint	joint of the segment, default: Joint(Joint::Fixed)
f_tip	frame from the end of the joint to the tip of the segment, default: Frame::Identity()
M	rigid body inertia of the segment, default: Inertia::Zero()

◆ Segment() [3/3]

KDL::Segment::Segment ( const Segment & in )

◆ ~Segment()

KDL::Segment::~Segment ( )

virtual

Member Function Documentation

◆ getFrameToTip()

Frame KDL::Segment::getFrameToTip ( ) const

inline

Request the pose from the joint end to the tip of the segment.

Returns: the original parent end - segment end pose.

References f_tip, joint, and KDL::Joint::pose().

Referenced by KDL::operator<<().

◆ getInertia()

const RigidBodyInertia& KDL::Segment::getInertia ( ) const

inline

Request the inertia of the segment.

Returns: const reference to the inertia of the segment

References I.

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), KDL::ChainDynParam::JntToMass(), and KDL::TreeIdSolver_RNE::rne_step().

◆ getJoint()

const Joint& KDL::Segment::getJoint ( ) const

inline

Request the joint of the segment.

Returns: const reference to the joint of the segment

References joint.

Referenced by KDL::Chain::addSegment(), KDL::Tree::addSegment(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainIkSolverPos_LMA::compute_fwdpos(), KDL::ChainIkSolverPos_LMA::compute_jacobian(), KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), KDL::Tree::getChain(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainDynParam::JntToMass(), KDL::operator<<(), and KDL::TreeIdSolver_RNE::rne_step().

◆ getName()

const std::string& KDL::Segment::getName ( ) const

inline

Request the name of the segment.

Returns: const reference to the name of the segment

References name.

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

◆ operator=()

Segment & KDL::Segment::operator= ( const Segment & arg )

References f_tip, I, joint, and name.

◆ pose()

Frame KDL::Segment::pose ( const double & q ) const

Request the pose of the segment, given the joint position q.

Parameters

q	1D position of the joint

Returns: pose from the root to the tip of the segment

References f_tip, joint, and KDL::Joint::pose().

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainIkSolverPos_LMA::compute_fwdpos(), KDL::Tree::getChain(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainDynParam::JntToMass(), and KDL::TreeIdSolver_RNE::rne_step().

◆ setFrameToTip()

void KDL::Segment::setFrameToTip ( const Frame & f_tip_new )

Set the pose from the joint end to the tip of the segment.

Parameters

f_tip_new pose from the joint end to the tip of the segment

References f_tip, KDL::Frame::Inverse(), joint, and KDL::Joint::pose().

◆ setInertia()

void KDL::Segment::setInertia ( const RigidBodyInertia & Iin )

inline

Request the inertia of the segment.

Returns: const reference to the inertia of the segment

◆ twist()

Twist KDL::Segment::twist	(	const double &	q,
		const double &	qdot
	)		const

Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity qdot.

Parameters

q	1D position of the joint
qdot	1D velocity of the joint

Returns: 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.

References f_tip, joint, KDL::Frame::M, KDL::Frame::p, KDL::Joint::pose(), KDL::Twist::RefPoint(), and KDL::Joint::twist().

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainIkSolverPos_LMA::compute_jacobian(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainDynParam::JntToMass(), and KDL::TreeIdSolver_RNE::rne_step().