tree.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_TREE_HPP
00023 #define KDL_TREE_HPP
00024 
00025 #include "config.h"
00026 
00027 #include "segment.hpp"
00028 #include "chain.hpp"
00029 
00030 #include <string>
00031 #include <map>
00032 
00033 #ifdef KDL_USE_NEW_TREE_INTERFACE
00034 #include <boost/shared_ptr.hpp>
00035 #endif //#ifdef KDL_USE_NEW_TREE_INTERFACE
00036 
00037 namespace KDL
00038 {
00039     class TreeElement;
00040 
00041 #ifdef KDL_USE_NEW_TREE_INTERFACE
00042     //We use smart pointers for managing tree nodes for now becuase
00043     //c++11 and unique_ptr support is not ubiquitous
00044     typedef boost::shared_ptr<TreeElement> TreeElementPtr;
00045     typedef boost::shared_ptr<const TreeElement> TreeElementConstPtr;
00046     typedef std::map<std::string, TreeElementPtr> SegmentMap;
00047     typedef TreeElementPtr TreeElementType;
00048 
00049 #define GetTreeElementChildren(tree_element) (tree_element)->children
00050 #define GetTreeElementParent(tree_element) (tree_element)->parent
00051 #define GetTreeElementQNr(tree_element) (tree_element)->q_nr
00052 #define GetTreeElementSegment(tree_element) (tree_element)->segment
00053 
00054 #else //#ifdef KDL_USE_NEW_TREE_INTERFACE
00055     //Forward declaration
00056     typedef std::map<std::string,TreeElement> SegmentMap;
00057     typedef TreeElement TreeElementType;
00058 
00059 #define GetTreeElementChildren(tree_element) (tree_element).children
00060 #define GetTreeElementParent(tree_element) (tree_element).parent
00061 #define GetTreeElementQNr(tree_element) (tree_element).q_nr
00062 #define GetTreeElementSegment(tree_element) (tree_element).segment
00063 
00064 #endif //#ifdef KDL_USE_NEW_TREE_INTERFACE
00065 
00066     class TreeElement
00067     {
00068     public:
00069         TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in):
00070             segment(segment_in),
00071             q_nr(q_nr_in),
00072             parent(parent_in)
00073         {}
00074 
00075         static TreeElementType Root(const std::string& root_name)
00076         {
00077 #ifdef KDL_USE_NEW_TREE_INTERFACE
00078             return TreeElementType(new TreeElement(root_name));
00079 #else //#define KDL_USE_NEW_TREE_INTERFACE
00080             return TreeElementType(root_name);
00081 #endif
00082         }
00083 
00084         Segment segment;
00085         unsigned int q_nr;
00086         SegmentMap::const_iterator  parent;
00087         std::vector<SegmentMap::const_iterator > children;
00088 
00089     private:
00090         TreeElement(const std::string& name):segment(name), q_nr(0) {}
00091     };
00092 
00099     class Tree
00100     {
00101     private:
00102         SegmentMap segments;
00103         unsigned int nrOfJoints;
00104         unsigned int nrOfSegments;
00105 
00106         std::string root_name;
00107 
00108         bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& hook_name);
00109 
00110     public:
00114         explicit Tree(const std::string& root_name="root");
00115         Tree(const Tree& in);
00116         Tree& operator= (const Tree& arg);
00117 
00128          bool addSegment(const Segment& segment, const std::string& hook_name);
00129 
00138         bool addChain(const Chain& chain, const std::string& hook_name);
00139 
00149         bool addTree(const Tree& tree, const std::string& hook_name);
00150 
00159         unsigned int getNrOfJoints()const
00160         {
00161             return nrOfJoints;
00162         };
00163 
00168         unsigned int getNrOfSegments()const {return nrOfSegments;};
00169 
00177         SegmentMap::const_iterator getSegment(const std::string& segment_name)const
00178         {
00179             return segments.find(segment_name);
00180         };
00186         SegmentMap::const_iterator getRootSegment()const
00187         {
00188           return segments.find(root_name);
00189         };
00190 
00202       bool getChain(const std::string& chain_root, const std::string& chain_tip, Chain& chain)const;
00203 
00204 
00205         const SegmentMap& getSegments()const
00206         {
00207             return segments;
00208         }
00209 
00210         virtual ~Tree(){};
00211 
00212     };
00213 }
00214 #endif
00215 
00216 
00217 
00218 
00219 


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28