37 typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > >
SegmentMap;
47 SegmentMap::value_type
const *
parent;
48 std::vector<SegmentMap::const_iterator >
children;
49 TreeElement(
const Segment& segment_in,
const SegmentMap::value_type& parent_in,
unsigned int q_nr_in)
71 unsigned int nrOfJoints;
72 unsigned int nrOfSegments;
74 bool addTreeRecursive(SegmentMap::const_iterator root,
const std::string& tree_name,
const std::string& hook_name);
108 bool addChain(
const Chain& chain,
const std::string& chain_name,
const std::string& hook_name);
121 bool addTree(
const Tree&
tree,
const std::string& tree_name,
const std::string& hook_name);
149 SegmentMap::const_iterator
getSegment(
const std::string& segment_name)
const
151 return segments.find(segment_name);
154 SegmentMap::value_type
const*
getSegmentPtr(
const std::string& segment_name)
const
156 SegmentMap::const_iterator it = segments.find(segment_name);
158 if (it == segments.end())
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
TreeElement(const Segment &segment_in, const SegmentMap::value_type &parent_in, unsigned int q_nr_in)
static TreeElement Root()
SegmentMap::value_type const * parent
std::vector< SegmentMap::const_iterator > children
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
Tree & operator=(const Tree &arg)
bool addTree(const Tree &tree, const std::string &tree_name, const std::string &hook_name)
const SegmentMap & getSegments() const
SegmentMap::const_iterator getSegment(const std::string &segment_name) const
SegmentMap::value_type const * getSegmentPtr(const std::string &segment_name) const
bool addSegment(const Segment &segment, const std::string &segment_name, const std::string &hook_name)
unsigned int getNrOfSegments() const
bool addChain(const Chain &chain, const std::string &chain_name, const std::string &hook_name)
unsigned int getNrOfJoints() const
Segment< FEdge *, Vec3r > segment
std::map< std::string, TreeElement, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, TreeElement > > > SegmentMap