KDL::Tree Class Reference

This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More...

#include <tree.hpp>

List of all members.

Public Member Functions
bool	addChain (const Chain &chain, const std::string &hook_name)
bool	addSegment (const Segment &segment, const std::string &hook_name)
bool	addTree (const Tree &tree, const std::string &hook_name)
bool	getChain (const std::string &chain_root, const std::string &chain_tip, Chain &chain) const
unsigned int	getNrOfJoints () const
unsigned int	getNrOfSegments () const
SegmentMap::const_iterator	getRootSegment () const
SegmentMap::const_iterator	getSegment (const std::string &segment_name) const
const SegmentMap &	getSegments () const
Tree &	operator= (const Tree &arg)
	Tree (const std::string &root_name="root")
	Tree (const Tree &in)
virtual	~Tree ()
Private Member Functions
bool	addTreeRecursive (SegmentMap::const_iterator root, const std::string &hook_name)
Private Attributes
unsigned int	nrOfJoints
unsigned int	nrOfSegments
std::string	root_name
SegmentMap	segments

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Detailed Description

This class encapsulates a tree kinematic interconnection structure. It is built out of segments.

Definition at line 99 of file tree.hpp.

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Constructor & Destructor Documentation

KDL::Tree::Tree

(

const std::string &

root_name = "root"

)

[explicit]

The constructor of a tree, a new tree is always empty

Definition at line 28 of file tree.cpp.

KDL::Tree::Tree

(

const Tree &

in

)

Definition at line 34 of file tree.cpp.

virtual KDL::Tree::~Tree

(

)

[inline, virtual]

Definition at line 210 of file tree.hpp.

---

Member Function Documentation

bool KDL::Tree::addChain	(	const Chain &	chain,
		const std::string &	hook_name
	)

Adds a complete chain to the end of the segment with hook_name as segment_name.

Parameters:

hook_name

name of the segment to connect the chain with.

Returns:

false if hook_name could not be found.

Definition at line 83 of file tree.cpp.

bool KDL::Tree::addSegment	(	const Segment &	segment,
		const std::string &	hook_name
	)

Adds a new segment to the end of the segment with hook_name as segment_name

Parameters:

segment	new segment to add
hook_name	name of the segment to connect this segment with.

Returns:

false if hook_name could not be found.

Definition at line 55 of file tree.cpp.

bool KDL::Tree::addTree	(	const Tree &	tree,
		const std::string &	hook_name
	)

Adds a complete tree to the end of the segment with hookname as segment_name.

Parameters:

tree	Tree to add
hook_name	name of the segment to connect the tree with

Returns:

false if hook_name could not be found

Definition at line 94 of file tree.cpp.

bool KDL::Tree::addTreeRecursive	(	SegmentMap::const_iterator	root,
		const std::string &	hook_name
	)		[private]

Definition at line 98 of file tree.cpp.

bool KDL::Tree::getChain	(	const std::string &	chain_root,
		const std::string &	chain_tip,
		Chain &	chain
	)		const

Request the chain of the tree between chain_root and chain_tip. The chain_root and chain_tip can be in different branches of the tree, the chain_root can be an ancestor of chain_tip, and chain_tip can be an ancestor of chain_root.

Parameters:

chain_root	the name of the root segment of the chain
chain_tip	the name of the tip segment of the chain
chain	the resulting chain

Returns:

success or failure

Definition at line 117 of file tree.cpp.

unsigned int KDL::Tree::getNrOfJoints

(

)

const [inline]

Request the total number of joints in the tree.
Important: It is not the same as the total number of segments since a segment does not need to have a joint.

Returns:

total nr of joints

Definition at line 159 of file tree.hpp.

unsigned int KDL::Tree::getNrOfSegments

(

)

const [inline]

Request the total number of segments in the tree.

Returns:

total number of segments

Definition at line 168 of file tree.hpp.

SegmentMap::const_iterator KDL::Tree::getRootSegment

(

)

const [inline]

Request the root segment of the tree

Returns:

constant iterator pointing to the root segment

Definition at line 186 of file tree.hpp.

SegmentMap::const_iterator KDL::Tree::getSegment

(

const std::string &

segment_name

)

const [inline]

Request the segment of the tree with name segment_name.

Parameters:

segment_name

the name of the requested segment

Returns:

constant iterator pointing to the requested segment

Definition at line 177 of file tree.hpp.

const SegmentMap& KDL::Tree::getSegments

(

)

const [inline]

Definition at line 205 of file tree.hpp.

Tree & KDL::Tree::operator=

(

const Tree &

arg

)

Definition at line 44 of file tree.cpp.

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Member Data Documentation

unsigned int KDL::Tree::nrOfJoints [private]

Definition at line 103 of file tree.hpp.

unsigned int KDL::Tree::nrOfSegments [private]

Definition at line 104 of file tree.hpp.

std::string KDL::Tree::root_name [private]

Definition at line 106 of file tree.hpp.

SegmentMap KDL::Tree::segments [private]

Definition at line 102 of file tree.hpp.

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The documentation for this class was generated from the following files:

• tree.hpp
• tree.cpp