/usr/include/kdl/segment.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
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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 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 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 | // 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_SEGMENT_HPP
#define KDL_SEGMENT_HPP
#include "frames.hpp"
#include "rigidbodyinertia.hpp"
#include "joint.hpp"
#include <vector>
namespace KDL {
/**
* \brief 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.
*
* @ingroup KinematicFamily
*/
class Segment {
friend class Chain;
private:
std::string name;
Joint joint;
RigidBodyInertia I;
Frame f_tip;
public:
/**
* Constructor of the segment
*
* @param name name of the segment
* @param joint joint of the segment, default:
* Joint(Joint::None)
* @param f_tip frame from the end of the joint to the tip of
* the segment, default: Frame::Identity()
* @param M rigid body inertia of the segment, default: Inertia::Zero()
*/
explicit Segment(const std::string& name, const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
/**
* Constructor of the segment
*
* @param joint joint of the segment, default:
* Joint(Joint::None)
* @param f_tip frame from the end of the joint to the tip of
* the segment, default: Frame::Identity()
* @param M rigid body inertia of the segment, default: Inertia::Zero()
*/
explicit Segment(const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
Segment(const Segment& in);
Segment& operator=(const Segment& arg);
virtual ~Segment();
/**
* Request the pose of the segment, given the joint position q.
*
* @param q 1D position of the joint
*
* @return pose from the root to the tip of the segment
*/
Frame pose(const double& q)const;
/**
* Request the 6D-velocity of the tip of the segment, given
* the joint position q and the joint velocity qdot.
*
* @param q 1D position of the joint
* @param qdot 1D velocity of the joint
*
* @return 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.
*/
Twist twist(const double& q,const double& qdot)const;
/**
* Request the name of the segment
*
*
* @return const reference to the name of the segment
*/
const std::string& getName()const
{
return name;
}
/**
* Request the joint of the segment
*
*
* @return const reference to the joint of the segment
*/
const Joint& getJoint()const
{
return joint;
}
/**
* Request the inertia of the segment
*
*
* @return const reference to the inertia of the segment
*/
const RigidBodyInertia& getInertia()const
{
return I;
}
/**
* Request the inertia of the segment
*
*
* @return const reference to the inertia of the segment
*/
void setInertia(const RigidBodyInertia& Iin)
{
this->I=Iin;
}
/**
* Request the pose from the joint end to the tip of the
*segment.
*
* @return the original parent end - segment end pose.
*/
Frame getFrameToTip()const
{
return joint.pose(0)*f_tip;
}
};
}//end of namespace KDL
#endif
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