53 lines
2.4 KiB
C++
53 lines
2.4 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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/**
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* @defgroup KinematicFamily Kinematic Families
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* @brief All classes to support kinematic families.
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*
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* The Kinematic Families classes range from the basic building blocks
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* (KDL::Joint and KDL::Segment) and their interconnected kinematic
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* structures (KDL::Chain and KDL::Tree), to the solver
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* algorithms for the kinematics and dynamics of particular kinematic
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* families.
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*
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* A <em>kinematic family</em> is a set of kinematic structures that have
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* similar properties, such as the same interconnection topology, the same
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* numerical or analytical solver algorithms, etc. Different members of the
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* same kinematic family differ only by the concrete values of their
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* kinematic and dynamic properties (link lengths, mass, etc.).
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*
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* Each kinematic structure is built from one or more Segments
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* (KDL::Segment). A KDL::Chain is a <strong>serial</strong> connection of
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* these segments; a KDL:Tree is a <strong>tree-structured</strong>
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* interconnection; and a KDL:Graph is a kinematic structure with a
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* <strong>general graph</strong> topology. (The current implementation
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* supports only KDL::Chain.)
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*
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* A KDL::Segment contains a KDL::Joint and an offset frame ("link length",
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* defined by a KDL::Frame), that represents the geometric pose
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* between the KDL::Joint on the previous segment and its own KDL::Joint.
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*
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* A list of all the classes is available on the modules page: \ref KinematicFamily
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*
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*
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*/
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