KDL::Tree Class Reference

This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More...

#include <tree.hpp>

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 SegmentMap &	getSegments () const
bool	getSubTree (const std::string &segment_name, Tree &tree) const
Tree &	operator= (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
unsigned int	nrOfJoints
unsigned int	nrOfSegments
std::string	root_name
SegmentMap	segments

Detailed Description

This class encapsulates a tree kinematic interconnection structure. It is built out of segments.

Definition at line 99 of file tree.hpp.

Constructor & Destructor Documentation

Tree() [1/2]

KDL::Tree::Tree ( const std::string &  root_name = "root" )

explicit

The constructor of a tree, a new tree is always empty

Definition at line 27 of file tree.cpp.

Tree() [2/2]

KDL::Tree::Tree

(

const Tree &

in

)

Definition at line 33 of file tree.cpp.

~Tree()

virtual KDL::Tree::~Tree ( )

inlinevirtual

Definition at line 223 of file tree.hpp.

Member Function Documentation

addChain()

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 82 of file tree.cpp.

addSegment()

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.

addTree()

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 93 of file tree.cpp.

addTreeRecursive()

bool KDL::Tree::addTreeRecursive ( SegmentMap::const_iterator  root, const std::string &  hook_name  )

private

Definition at line 97 of file tree.cpp.

getChain()

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 116 of file tree.cpp.

getNrOfJoints()

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 159 of file tree.hpp.

getNrOfSegments()

unsigned int KDL::Tree::getNrOfSegments ( ) const

inline

Request the total number of segments in the tree.

Returns

total number of segments

Definition at line 168 of file tree.hpp.

getRootSegment()

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 186 of file tree.hpp.

getSegment()

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 177 of file tree.hpp.

getSegments()

const SegmentMap& KDL::Tree::getSegments ( ) const

inline

Definition at line 218 of file tree.hpp.

getSubTree()

bool KDL::Tree::getSubTree	(	const std::string &	segment_name,
		Tree &	tree
	)		const

Extract a tree having segment_name as root. Only child segments of segment_name are added to the new tree.

Parameters

segment_name	the name of the segment to be used as root of the new tree
tree	the resulting sub-tree

Returns

success or failure

Definition at line 165 of file tree.cpp.

operator=()

Tree & KDL::Tree::operator=

(

const Tree &

arg

)

Definition at line 43 of file tree.cpp.

Member Data Documentation

nrOfJoints

unsigned int KDL::Tree::nrOfJoints

private

Definition at line 103 of file tree.hpp.

nrOfSegments

unsigned int KDL::Tree::nrOfSegments

private

Definition at line 104 of file tree.hpp.

root_name

std::string KDL::Tree::root_name

private

Definition at line 106 of file tree.hpp.

segments

SegmentMap KDL::Tree::segments

private

Definition at line 102 of file tree.hpp.

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

• tree.hpp
• tree.cpp