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2026-06-01 15:55:59 +08:00
commit 40f9bdb590
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--- a/KDL/install/include/kdl/chain.hpp
+++ b/KDL/install/include/kdl/chain.hpp
@@ -0,0 +1,105 @@
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_CHAIN_HPP
+#define KDL_CHAIN_HPP
+
+#include "segment.hpp"
+#include <string>
+
+namespace KDL {
+    /**
+	  * \brief This class encapsulates a <strong>serial</strong> kinematic
+	  * interconnection structure. It is built out of segments.
+     *
+     * @ingroup KinematicFamily
+     */
+    class Chain {
+    private:
+        unsigned int nrOfJoints;
+        unsigned int nrOfSegments;
+    public:
+        std::vector<Segment> segments;
+        /**
+         * The constructor of a chain, a new chain is always empty.
+         *
+         */
+        Chain();
+        Chain(const Chain& in);
+        Chain& operator = (const Chain& arg);
+
+        /**
+         * Adds a new segment to the <strong>end</strong> of the chain.
+         *
+         * @param segment The segment to add
+         */
+        void addSegment(const Segment& segment);
+        /**
+         * Adds a complete chain to the <strong>end</strong> of the chain
+         * The added chain is copied.
+         *
+         * @param chain The chain to add
+         */
+        void addChain(const Chain& chain);
+
+        /**
+         * Request the total number of joints in the chain.\n
+         * <strong> Important:</strong> It is not the
+         * same as the total number of segments since a segment does not
+         * need to have a joint. This function is important when
+         * creating a KDL::JntArray to use with this chain.
+         * @return total nr of joints
+         */
+        unsigned int getNrOfJoints()const {return nrOfJoints;};
+        /**
+         * Request the total number of segments in the chain.
+         * @return total number of segments
+         */
+        unsigned int getNrOfSegments()const {return nrOfSegments;};
+
+        /**
+         * Request the nr'd segment of the chain. There is no boundary
+         * checking.
+         *
+         * @param nr the nr of the segment starting from 0
+         *
+         * @return a constant reference to the nr'd segment
+         */
+        const Segment& getSegment(unsigned int nr)const;
+
+        /**
+         * Request the nr'd segment of the chain. There is no boundary
+         * checking.
+         *
+         * @param nr the nr of the segment starting from 0
+         *
+         * @return a reference to the nr'd segment
+         */
+        Segment& getSegment(unsigned int nr);
+
+        virtual ~Chain();
+    };
+
+
+
+}//end of namespace KDL
+
+#endif