This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...
#include <tree.hpp>
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 |
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
KDL::Tree::Tree | ( | const std::string & | root_name = "root" | ) | [explicit] |
KDL::Tree::Tree | ( | const Tree & | in | ) |
virtual KDL::Tree::~Tree | ( | ) | [inline, virtual] |
bool KDL::Tree::addChain | ( | const Chain & | chain, |
const std::string & | hook_name | ||
) |
bool KDL::Tree::addSegment | ( | const Segment & | segment, |
const std::string & | hook_name | ||
) |
bool KDL::Tree::addTree | ( | const Tree & | tree, |
const std::string & | hook_name | ||
) |
bool KDL::Tree::addTreeRecursive | ( | SegmentMap::const_iterator | root, |
const std::string & | hook_name | ||
) | [private] |
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.
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 |
unsigned int KDL::Tree::getNrOfJoints | ( | ) | const [inline] |
unsigned int KDL::Tree::getNrOfSegments | ( | ) | const [inline] |
SegmentMap::const_iterator KDL::Tree::getRootSegment | ( | ) | const [inline] |
SegmentMap::const_iterator KDL::Tree::getSegment | ( | const std::string & | segment_name | ) | const [inline] |
const SegmentMap& KDL::Tree::getSegments | ( | ) | const [inline] |
unsigned int KDL::Tree::nrOfJoints [private] |
unsigned int KDL::Tree::nrOfSegments [private] |
std::string KDL::Tree::root_name [private] |
SegmentMap KDL::Tree::segments [private] |