CKinematicChainContainer Class Reference

Kinematic Robot Model. More...

#include <robot.h>

List of all members.

Public Member Functions

 CKinematicChainContainer ()
 ~CKinematicChainContainer ()
void update ()
 Updates denavit hartenberg matrices of all chains.
void loadFromXml (CRobot *robot, TiXmlElement *kinChainsNode)
 Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object).

Public Attributes

int length
 Number of kinematic chains.
CKinematicChainchain
 Array of kinematic chains.


Detailed Description

Kinematic Robot Model.

The kinematic model of the robot is given by a number of (connected) kinematic chains.


Constructor & Destructor Documentation

CKinematicChainContainer::CKinematicChainContainer (  ) 

CKinematicChainContainer::~CKinematicChainContainer (  ) 


Member Function Documentation

void CKinematicChainContainer::update (  ) 

Updates denavit hartenberg matrices of all chains.

void CKinematicChainContainer::loadFromXml ( CRobot robot,
TiXmlElement *  kinChainsNode 
)

Loads kinematic structure of robot from <KINEMATICCHAINS> (xml object).


Member Data Documentation

int CKinematicChainContainer::length

Number of kinematic chains.

CKinematicChain* CKinematicChainContainer::chain

Array of kinematic chains.


The documentation for this class was generated from the following files:
Generated on Mon Apr 21 23:27:44 2008 for BioloidControl by  doxygen 1.5.2