Blender  V3.3
tree.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_TREE_HPP
23 #define KDL_TREE_HPP
24 
25 #include "segment.hpp"
26 #include "chain.hpp"
27 
28 #include <string>
29 #include <map>
30 #include <Eigen/Core>
31 
32 namespace KDL
33 {
34  //Forward declaration
35  class TreeElement;
36  // Eigen allocator is needed for alignment of Eigen data types
37  typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > > SegmentMap;
38 
40  {
41  public:
43  {};
44  public:
46  unsigned int q_nr;
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)
50  {
51  q_nr=q_nr_in;
52  segment=segment_in;
53  parent=&parent_in;
54  };
55  static TreeElement Root()
56  {
57  return TreeElement();
58  };
59  };
60 
67  class Tree
68  {
69  private:
70  SegmentMap segments;
71  unsigned int nrOfJoints;
72  unsigned int nrOfSegments;
73 
74  bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& tree_name, const std::string& hook_name);
75 
76  public:
80  Tree();
81  Tree(const Tree& in);
82  Tree& operator= (const Tree& arg);
83 
95  bool addSegment(const Segment& segment, const std::string& segment_name, const std::string& hook_name);
96 
108  bool addChain(const Chain& chain, const std::string& chain_name, const std::string& hook_name);
109 
121  bool addTree(const Tree& tree, const std::string& tree_name,const std::string& hook_name);
122 
131  unsigned int getNrOfJoints()const
132  {
133  return nrOfJoints;
134  };
135 
140  unsigned int getNrOfSegments()const {return nrOfSegments;};
141 
149  SegmentMap::const_iterator getSegment(const std::string& segment_name)const
150  {
151  return segments.find(segment_name);
152  };
153 
154  SegmentMap::value_type const* getSegmentPtr(const std::string& segment_name)const
155  {
156  SegmentMap::const_iterator it = segments.find(segment_name);
157 
158  if (it == segments.end())
159  return 0;
160 
161  return &*it;
162  };
163 
164  const SegmentMap& getSegments()const
165  {
166  return segments;
167  }
168 
169  virtual ~Tree(){};
170  };
171 }
172 #endif
173 
174 
175 
176 
177 
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
Definition: chain.hpp:36
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
Definition: segment.hpp:46
TreeElement(const Segment &segment_in, const SegmentMap::value_type &parent_in, unsigned int q_nr_in)
Definition: tree.hpp:49
unsigned int q_nr
Definition: tree.hpp:46
static TreeElement Root()
Definition: tree.hpp:55
Segment segment
Definition: tree.hpp:43
SegmentMap::value_type const * parent
Definition: tree.hpp:47
std::vector< SegmentMap::const_iterator > children
Definition: tree.hpp:48
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
Definition: tree.hpp:68
Tree & operator=(const Tree &arg)
Definition: tree.cpp:48
bool addTree(const Tree &tree, const std::string &tree_name, const std::string &hook_name)
Definition: tree.cpp:98
const SegmentMap & getSegments() const
Definition: tree.hpp:164
SegmentMap::const_iterator getSegment(const std::string &segment_name) const
Definition: tree.hpp:149
SegmentMap::value_type const * getSegmentPtr(const std::string &segment_name) const
Definition: tree.hpp:154
bool addSegment(const Segment &segment, const std::string &segment_name, const std::string &hook_name)
Definition: tree.cpp:59
unsigned int getNrOfSegments() const
Definition: tree.hpp:140
Tree()
Definition: tree.cpp:30
virtual ~Tree()
Definition: tree.hpp:169
bool addChain(const Chain &chain, const std::string &chain_name, const std::string &hook_name)
Definition: tree.cpp:83
unsigned int getNrOfJoints() const
Definition: tree.hpp:131
void * tree
Segment< FEdge *, Vec3r > segment
Definition: chain.cpp:27
std::map< std::string, TreeElement, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, TreeElement > > > SegmentMap
Definition: tree.hpp:35