This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
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#include <tree.hpp>
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| bool | addTreeRecursive (SegmentMap::const_iterator root, const std::string &hook_name) |
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This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
Definition at line 99 of file tree.hpp.
| KDL::Tree::Tree |
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const std::string & |
root_name = "root" | ) |
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explicit |
The constructor of a tree, a new tree is always empty
Definition at line 28 of file tree.cpp.
| KDL::Tree::Tree |
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const Tree & |
in | ) |
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| virtual KDL::Tree::~Tree |
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| ) |
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inlinevirtual |
| bool KDL::Tree::addChain |
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const Chain & |
chain, |
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const std::string & |
hook_name |
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) |
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Adds a complete chain to the end of the segment with hook_name as segment_name.
- Parameters
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| 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 |
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const Segment & |
segment, |
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const std::string & |
hook_name |
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) |
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Adds a new segment to the end of the segment with hook_name as segment_name
- Parameters
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| 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 |
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const Tree & |
tree, |
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const std::string & |
hook_name |
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) |
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Adds a complete tree to the end of the segment with hookname as segment_name.
- Parameters
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| 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 |
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SegmentMap::const_iterator |
root, |
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const std::string & |
hook_name |
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) |
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private |
| bool KDL::Tree::getChain |
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const std::string & |
chain_root, |
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const std::string & |
chain_tip, |
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Chain & |
chain |
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) |
| 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
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| 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 |
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| ) |
const |
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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 |
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| ) |
const |
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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 |
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const |
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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 |
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const std::string & |
segment_name | ) |
const |
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inline |
Request the segment of the tree with name segment_name.
- Parameters
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| 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 |
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const |
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inline |
| Tree & KDL::Tree::operator= |
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const Tree & |
arg | ) |
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| unsigned int KDL::Tree::nrOfJoints |
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private |
| unsigned int KDL::Tree::nrOfSegments |
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private |
| std::string KDL::Tree::root_name |
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private |
The documentation for this class was generated from the following files: