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.
CKinematicChain *	chain
	Array of kinematic chains.

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Detailed Description

Kinematic Robot Model.

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

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Constructor & Destructor Documentation

CKinematicChainContainer::CKinematicChainContainer

(

)

CKinematicChainContainer::~CKinematicChainContainer

(

)

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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).

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Member Data Documentation

int CKinematicChainContainer::length

Number of kinematic chains.

CKinematicChain* CKinematicChainContainer::chain

Array of kinematic chains.

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

• include/robot.h
• src/robot.cpp

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