33#ifdef KDL_USE_NEW_TREE_INTERFACE
34#include <boost/shared_ptr.hpp>
41#ifdef KDL_USE_NEW_TREE_INTERFACE
44 typedef boost::shared_ptr<TreeElement> TreeElementPtr;
45 typedef boost::shared_ptr<const TreeElement> TreeElementConstPtr;
46 typedef std::map<std::string, TreeElementPtr>
SegmentMap;
49#define GetTreeElementChildren(tree_element) (tree_element)->children
50#define GetTreeElementParent(tree_element) (tree_element)->parent
51#define GetTreeElementQNr(tree_element) (tree_element)->q_nr
52#define GetTreeElementSegment(tree_element) (tree_element)->segment
59#define GetTreeElementChildren(tree_element) (tree_element).children
60#define GetTreeElementParent(tree_element) (tree_element).parent
61#define GetTreeElementQNr(tree_element) (tree_element).q_nr
62#define GetTreeElementSegment(tree_element) (tree_element).segment
69 TreeElement(
const Segment& segment_in,
const SegmentMap::const_iterator& parent_in,
unsigned int q_nr_in):
77#ifdef KDL_USE_NEW_TREE_INTERFACE
87 std::vector<SegmentMap::const_iterator >
children;
108 bool addTreeRecursive(SegmentMap::const_iterator root,
const std::string& hook_name);
138 bool addChain(
const Chain& chain,
const std::string& hook_name);
149 bool addTree(
const Tree& tree,
const std::string& hook_name);
177 SegmentMap::const_iterator
getSegment(
const std::string& segment_name)
const
202 bool getChain(
const std::string& chain_root,
const std::string& chain_tip,
Chain& chain)
const;
216 bool getSubTree(
const std::string& segment_name,
Tree& tree)
const;
Definition: segment.hpp:46
TreeElement(const std::string &name)
Definition: tree.hpp:90
unsigned int q_nr
Definition: tree.hpp:85
TreeElement(const Segment &segment_in, const SegmentMap::const_iterator &parent_in, unsigned int q_nr_in)
Definition: tree.hpp:69
SegmentMap::const_iterator parent
Definition: tree.hpp:86
Segment segment
Definition: tree.hpp:84
std::vector< SegmentMap::const_iterator > children
Definition: tree.hpp:87
static TreeElementType Root(const std::string &root_name)
Definition: tree.hpp:75
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
Tree & operator=(const Tree &arg)
Definition: tree.cpp:43
unsigned int nrOfJoints
Definition: tree.hpp:103
std::string root_name
Definition: tree.hpp:106
SegmentMap::const_iterator getSegment(const std::string &segment_name) const
Request the segment of the tree with name segment_name.
Definition: tree.hpp:177
SegmentMap segments
Definition: tree.hpp:102
SegmentMap::const_iterator getRootSegment() const
Request the root segment of the tree.
Definition: tree.hpp:186
bool 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.
Definition: tree.cpp:82
unsigned int getNrOfSegments() const
Request the total number of segments in the tree.
Definition: tree.hpp:168
bool 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.
Definition: tree.cpp:54
unsigned int nrOfSegments
Definition: tree.hpp:104
bool addTreeRecursive(SegmentMap::const_iterator root, const std::string &hook_name)
Definition: tree.cpp:97
const SegmentMap & getSegments() const
Definition: tree.hpp:218
bool addTree(const Tree &tree, const std::string &hook_name)
Adds a complete tree to the end of the segment with hookname as segment_name.
Definition: tree.cpp:93
bool 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.
Definition: tree.cpp:116
virtual ~Tree()
Definition: tree.hpp:223
Tree(const std::string &root_name="root")
The constructor of a tree, a new tree is always empty.
Definition: tree.cpp:27
bool getSubTree(const std::string &segment_name, Tree &tree) const
Extract a tree having segment_name as root.
Definition: tree.cpp:165
unsigned int getNrOfJoints() const
Request the total number of joints in the tree.
Definition: tree.hpp:159
Definition: articulatedbodyinertia.cpp:26
TreeElement TreeElementType
Definition: tree.hpp:57
std::map< std::string, TreeElement > SegmentMap
Definition: tree.hpp:39