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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 | // 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
/**
* @defgroup KinematicFamily Kinematic Families
* @brief All classes to support kinematic families.
*
* The Kinematic Families classes range from the basic building blocks
* (KDL::Joint and KDL::Segment) and their interconnected kinematic
* structures (KDL::Chain, KDL::Tree and KDL::Graph), to the solver
* algorithms for the kinematics and dynamics of particular kinematic
* families.
*
* A <em>kinematic family</em> is a set of kinematic structures that have
* similar properties, such as the same interconnection topology, the same
* numerical or analytical solver algorithms, etc. Different members of the
* same kinematic family differ only by the concrete values of their
* kinematic and dynamic properties (link lengths, mass, etc.).
*
* Each kinematic structure is built from one or more Segments
* (KDL::Segment). A KDL::Chain is a <strong>serial</strong> connection of
* these segments; a KDL:Tree is a <strong>tree-structured</strong>
* interconnection; and a KDL:Graph is a kinematic structure with a
* <strong>general graph</strong> topology. (The current implementation
* supports only KDL::Chain.)
*
* A KDL::Segment contains a KDL::Joint and an offset frame ("link length",
* defined by a KDL::Frame), that represents the geometric pose
* between the KDL::Joint on the previous segment and its own KDL::Joint.
*
* A list of all the classes is available on the modules page: \ref KinFam
*
*
*/
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