Public Member Functions | Private Member Functions | Private Attributes
KDL::Tree Class Reference

This class encapsulates a tree kinematic interconnection structure. It is build 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 SegmentMapgetSegments () const
Treeoperator= (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

int nrOfJoints
int nrOfSegments
std::string root_name
SegmentMap segments

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)

Definition at line 33 of file tree.cpp.

virtual KDL::Tree::~Tree ( ) [inline, virtual]

Definition at line 176 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_namename 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:
segmentnew segment to add
hook_namename 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:
treeTree to add
hook_namename 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]

Definition at line 91 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_rootthe name of the root segment of the chain
chain_tipthe name of the tip segment of the chain
chainthe 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_namethe 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]

Definition at line 171 of file tree.hpp.

Tree & KDL::Tree::operator= ( const Tree arg)

Definition at line 43 of file tree.cpp.


Member Data Documentation

int KDL::Tree::nrOfJoints [private]

Definition at line 69 of file tree.hpp.

int KDL::Tree::nrOfSegments [private]

Definition at line 70 of file tree.hpp.

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

Definition at line 72 of file tree.hpp.

Definition at line 68 of file tree.hpp.


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


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26