This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
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#include <tree.hpp>
List of all members.
Detailed Description
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
Definition at line 65 of file tree.hpp.
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 |
) |
|
| virtual KDL::Tree::~Tree |
( |
|
) |
[inline, virtual] |
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 76 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 54 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 87 of file tree.cpp.
| 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.
- 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 110 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 125 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 134 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 152 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 143 of file tree.hpp.
| const SegmentMap& KDL::Tree::getSegments |
( |
|
) |
const [inline] |
| Tree & KDL::Tree::operator= |
( |
const Tree & |
arg |
) |
|
Member Data Documentation
The documentation for this class was generated from the following files:
