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

#include <tree.hpp>

Public Member Functions
	Tree ()
	Tree (const Tree &in)
Tree &	operator= (const Tree &arg)
bool	addSegment (const Segment &segment, const std::string &segment_name, const std::string &hook_name)
bool	addChain (const Chain &chain, const std::string &chain_name, const std::string &hook_name)
bool	addTree (const Tree &tree, const std::string &tree_name, const std::string &hook_name)
unsigned int	getNrOfJoints () const
unsigned int	getNrOfSegments () const
SegmentMap::const_iterator	getSegment (const std::string &segment_name) const
const SegmentMap &	getSegments () const
virtual	~Tree ()

Detailed Description

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

Definition at line 72 of file tree.hpp.

Constructor & Destructor Documentation

KDL::Tree::Tree ( )

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

Definition at line 30 of file tree.cpp.

References KDL::TreeElement::Root().

KDL::Tree::Tree ( const Tree & in )

Definition at line 35 of file tree.cpp.

References addTree(), and KDL::TreeElement::Root().

virtual KDL::Tree::~Tree ( ) [inline, virtual]

Definition at line 166 of file tree.hpp.

Member Function Documentation

bool KDL::Tree::addChain	(	const Chain &	chain,
		const std::string &	chain_name,
		const std::string &	hook_name
	)

Adds a complete chain to the end of the segment with hook_name as segment_name. Segment i of the chain will get chain_name+".Segment"+i as segment_name.

Parameters:

chain	Chain to add
chain_name	name of the chain
hook_name	name of the segment to connect the chain with.

Returns:: false if hook_name could not be found.

Definition at line 77 of file tree.cpp.

References addSegment(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), and i.

bool KDL::Tree::addSegment	(	const Segment &	segment,
		const std::string &	segment_name,
		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
segment_name	name of the new segment
hook_name	name of the segment to connect this segment with.

Returns:: false if hook_name could not be found.

Definition at line 55 of file tree.cpp.

References KDL::Segment::getJoint(), and KDL::Joint::getNDof().

Referenced by addChain().

bool KDL::Tree::addTree	(	const Tree &	tree,
		const std::string &	tree_name,
		const std::string &	hook_name
	)

Adds a complete tree to the end of the segment with hookname as segment_name. The segments of the tree will get tree_name+segment_name as segment_name.

Parameters:

tree	Tree to add
tree_name	name of the tree
hook_name	name of the segment to connect the tree with

Returns:: false if hook_name could not be found

Definition at line 92 of file tree.cpp.

References getSegment().

Referenced by operator=(), and Tree().

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.