iDynTree::DHChain class
#include <iDynTree/DenavitHartenberg.h>

Simple representation of a chain described with Denavit-Hartenberg Parameters.

Directly inspiered by the iCub::iKin::iKinChain class.

Public functions

void setNrOfDOFs(size_t nDofs)
auto getNrOfDOFs() const -> size_t
void setH0(const iDynTree::Transform& _H0)
auto getH0() const -> const iDynTree::Transform&
void setHN(const Transform& _HN)
auto getHN() const -> const Transform&
auto operator()(const size_t i) -> DHLink&
Return a reference to the i-th link of the chain.
auto operator()(const size_t i) const -> const DHLink&
Return a reference to the i-th link of the chain (const version).
auto getDOFName(size_t dofIdx) const -> std::string
Get the name of the i-th DOF.
void setDOFName(size_t dofIdx, const std::string& dofName)
Get the name of the i-th DOF.
auto toModel(Model& outputModel) const -> bool
Create an iDynTree::Model from this DHChain.
auto fromModel(const iDynTree::Model& model, std::string baseFrame, std::string eeFrame) -> bool
Create a DHChain from a Model.

Function documentation

bool iDynTree::DHChain::toModel(Model& outputModel) const

Create an iDynTree::Model from this DHChain.

bool iDynTree::DHChain::fromModel(const iDynTree::Model& model, std::string baseFrame, std::string eeFrame)

Create a DHChain from a Model.