/usr/include/kdl/chain.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | // 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_CHAIN_HPP
#define KDL_CHAIN_HPP
#include "segment.hpp"
#include <string>
namespace KDL {
/**
* \brief This class encapsulates a <strong>serial</strong> kinematic
* interconnection structure. It is build out of segments.
*
* @ingroup KinematicFamily
*/
class Chain {
private:
unsigned int nrOfJoints;
unsigned int nrOfSegments;
public:
std::vector<Segment> segments;
/**
* The constructor of a chain, a new chain is always empty.
*
*/
Chain();
Chain(const Chain& in);
Chain& operator = (const Chain& arg);
/**
* Adds a new segment to the <strong>end</strong> of the chain.
*
* @param segment The segment to add
*/
void addSegment(const Segment& segment);
/**
* Adds a complete chain to the <strong>end</strong> of the chain
* The added chain is copied.
*
* @param chain The chain to add
*/
void addChain(const Chain& chain);
/**
* Request the total number of joints in the chain.\n
* <strong> Important:</strong> 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.
* @return total nr of joints
*/
unsigned int getNrOfJoints()const {return nrOfJoints;};
/**
* Request the total number of segments in the chain.
* @return total number of segments
*/
unsigned int getNrOfSegments()const {return nrOfSegments;};
/**
* Request the nr'd segment of the chain. There is no boundary
* checking.
*
* @param nr the nr of the segment starting from 0
*
* @return a constant reference to the nr'd segment
*/
const Segment& getSegment(unsigned int nr)const;
virtual ~Chain();
};
}//end of namespace KDL
#endif
|