Initial commit

KDL/install/include/kdl/kinfam.hpp

@@ -0,0 +1,52 @@
+// 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
+
+/**
+ * @defgroup KinematicFamily Kinematic Families
+ * @brief All classes to support kinematic families.
+ *
+ * The Kinematic Families classes range from the basic building blocks
+ * (KDL::Joint and KDL::Segment) and their interconnected kinematic
+ * structures (KDL::Chain and KDL::Tree), to the solver
+ * algorithms for the kinematics and dynamics of particular kinematic
+ * families.
+ *
+ * A <em>kinematic family</em> is a set of kinematic structures that have
+ * similar properties, such as the same interconnection topology, the same
+ * numerical or analytical solver algorithms, etc. Different members of the
+ * same kinematic family differ only by the concrete values of their
+ * kinematic and dynamic properties (link lengths, mass, etc.).
+ *
+ * Each kinematic structure is built from one or more Segments
+ * (KDL::Segment). A KDL::Chain is a <strong>serial</strong> connection of
+ * these segments; a KDL:Tree is a <strong>tree-structured</strong>
+ * interconnection; and a KDL:Graph is a kinematic structure with a
+ * <strong>general graph</strong> topology. (The current implementation
+ * supports only KDL::Chain.)
+ *
+ * A KDL::Segment contains a KDL::Joint and an offset frame ("link length",
+ * defined by a KDL::Frame), that represents the geometric pose
+ * between the KDL::Joint on the previous segment and its own KDL::Joint.
+ *
+ * A list of all the classes is available on the modules page: \ref KinematicFamily
+ *
+ *
+ */