23#ifndef KDL_SEGMENT_HPP
24#define KDL_SEGMENT_HPP
100 Twist twist(
const double& q,
const double& qdot)
const;
Definition frames.hpp:570
static Frame Identity()
Definition frames.hpp:701
Frame pose(const double &q) const
Request the 6D-pose between the beginning and the end of the joint at joint position q.
Definition joint.cpp:76
@ Fixed
Definition joint.hpp:47
6D Inertia of a rigid body
Definition rigidbodyinertia.hpp:37
static RigidBodyInertia Zero()
Creates an inertia with zero mass, and zero RotationalInertia.
Definition rigidbodyinertia.hpp:49
Definition segment.hpp:46
virtual ~Segment()
Definition segment.cpp:53
Segment & operator=(const Segment &arg)
Definition segment.cpp:44
const Joint & getJoint() const
Request the joint of the segment.
Definition segment.hpp:118
RigidBodyInertia I
Definition segment.hpp:51
Frame getFrameToTip() const
Request the pose from the joint end to the tip of the segment.
Definition segment.hpp:149
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 ...
Definition segment.cpp:62
Frame f_tip
Definition segment.hpp:52
const std::string & getName() const
Request the name of the segment.
Definition segment.hpp:108
std::string name
Definition segment.hpp:49
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.
Definition segment.cpp:24
void setInertia(const RigidBodyInertia &Iin)
Request the inertia of the segment.
Definition segment.hpp:138
const RigidBodyInertia & getInertia() const
Request the inertia of the segment.
Definition segment.hpp:128
Joint joint
Definition segment.hpp:50
void setFrameToTip(const Frame &f_tip_new)
Set the pose from the joint end to the tip of the segment.
Definition segment.cpp:67
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition segment.cpp:57
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26