Robotics Library
0.6.2
rl
kin
Link.h
Go to the documentation of this file.
1
//
2
// Copyright (c) 2009, Markus Rickert
3
// All rights reserved.
4
//
5
// Redistribution and use in source and binary forms, with or without
6
// modification, are permitted provided that the following conditions are met:
7
//
8
// * Redistributions of source code must retain the above copyright notice,
9
// this list of conditions and the following disclaimer.
10
// * Redistributions in binary form must reproduce the above copyright notice,
11
// this list of conditions and the following disclaimer in the documentation
12
// and/or other materials provided with the distribution.
13
//
14
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
15
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
17
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
18
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
19
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
20
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
21
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
22
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
23
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
24
// POSSIBILITY OF SUCH DAMAGE.
25
//
26
27
#ifndef _RL_KIN_LINK_H_
28
#define _RL_KIN_LINK_H_
29
30
#ifdef WIN32
31
#include <unordered_set>
32
#else // WIN32
33
#include <tr1/unordered_set>
34
#endif // WIN32
35
36
#include <
rl/math/Vector.h
>
37
38
#include "
Frame.h
"
39
40
namespace
rl
41
{
42
namespace
kin
43
{
44
class
Link
:
public
Frame
45
{
46
public
:
47
Link
();
48
49
virtual
~Link
();
50
51
bool
collision
;
52
53
::rl::math::Vector3
cog
;
54
55
::rl::math::Matrix33
inertia
;
56
57
::rl::math::Real
mass
;
58
59
::std::tr1::unordered_set< Link* >
selfcollision
;
60
61
protected
:
62
63
private
:
64
65
};
66
}
67
}
68
69
#endif // _RL_KIN_LINK_H_
rl::math::Vector3
::Eigen::Matrix< Real, 3, 1 > Vector3
Definition:
Vector.h:45
rl::kin::Link
Definition:
Link.h:45
Frame.h
rl::kin::Link::Link
Link()
Definition:
Link.cpp:33
rl::kin::Link::cog
::rl::math::Vector3 cog
Definition:
Link.h:53
rl::kin::Link::collision
bool collision
Definition:
Link.h:51
Vector.h
rl::kin::Link::inertia
::rl::math::Matrix33 inertia
Definition:
Link.h:55
rl::math::Matrix33
::Eigen::Matrix< Real, 3, 3 > Matrix33
Definition:
Matrix.h:45
rl::kin::Link::~Link
virtual ~Link()
Definition:
Link.cpp:43
rl::kin::Link::selfcollision
::std::tr1::unordered_set< Link * > selfcollision
Definition:
Link.h:59
rl::kin::Link::mass
::rl::math::Real mass
Definition:
Link.h:57
rl::math::Real
double Real
Definition:
Real.h:34
rl::kin::Frame
Definition:
Frame.h:39
rl
Definition:
Ati.cpp:35
Generated by
1.8.20