120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "segment.hpp"
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namespace KDL {
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Segment::Segment(const std::string& _name, const Joint& _joint, const Frame& _f_tip, const RigidBodyInertia& _I):
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name(_name),
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joint(_joint),I(_I),
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f_tip(_joint.pose(0).Inverse() * _f_tip)
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{
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}
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Segment::Segment(const Joint& _joint, const Frame& _f_tip, const RigidBodyInertia& _I):
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name("NoName"),
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joint(_joint),I(_I),
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f_tip(_joint.pose(0).Inverse() * _f_tip)
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{
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}
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Segment::Segment(const Segment& in):
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name(in.name),joint(in.joint),I(in.I),
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f_tip(in.f_tip)
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{
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}
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Segment& Segment::operator=(const Segment& arg)
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{
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name=arg.name;
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joint=arg.joint;
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I=arg.I;
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f_tip=arg.f_tip;
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return *this;
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}
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Segment::~Segment()
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{
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}
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Frame Segment::pose(const double& q)const
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{
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return joint.pose(q)*f_tip;
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}
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Twist Segment::twist(const double& q, const double& qdot)const
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{
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return joint.twist(qdot).RefPoint(joint.pose(q).M * f_tip.p);
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}
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}//end of namespace KDL
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