CKinematicChain Class Reference

Kinematic chain. More...

#include <robot.h>

Inheritance diagram for CKinematicChain:


Public Member Functions
	CKinematicChain ()
	~CKinematicChain ()
void	update ()
	Updates denavit hartenberg matrices.
CFrame *	getByName (char *str)
	Returns frame object if frame with name str exists in the chain.
void	getPose (CMatrix &result)
	Returns the pose of the last link in the chain (in the base frame).
void	setLength (int len)
	Sets chain length and allocates memory.
void	loadFromXml (CRobot robot, TiXmlElement kinChainsNode)
	Transforms <CHAIN> (xml object) into kinematic chain object.
Public Attributes
CDh *	dhParameters
	Array of denavit hartenberg parameters.
CFrame **	frames
	Array of frames associated with every link in the chain.
int	length
	Number of links in the chain.

Detailed Description

Kinematic chain.

CKinematicChain::CKinematicChain ( )

CKinematicChain::~CKinematicChain ( )

void CKinematicChain::update ( ) [virtual]

Updates denavit hartenberg matrices.

Reimplemented from CFrame.

CFrame * CKinematicChain::getByName ( char * str ) [virtual]

Returns frame object if frame with name str exists in the chain.

Reimplemented from CFrame.

void CKinematicChain::getPose ( CMatrix & result )

Returns the pose of the last link in the chain (in the base frame).

void CKinematicChain::setLength ( int len )

Sets chain length and allocates memory.

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

Transforms <CHAIN> (xml object) into kinematic chain object.

Array of denavit hartenberg parameters.

Array of frames associated with every link in the chain.

Number of links in the chain.

The documentation for this class was generated from the following files:

Generated on Mon Apr 21 23:27:44 2008 for BioloidControl by

1.5.2