Blender
V3.3
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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 |
SegmentMap::value_type const * | getSegmentPtr (const std::string &segment_name) const |
const SegmentMap & | getSegments () const |
virtual | ~Tree () |
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
KDL::Tree::Tree | ( | ) |
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.
chain | Chain to add |
chain_name | name of the chain |
hook_name | name of the segment to connect the chain with. |
Definition at line 83 of file tree.cpp.
References addSegment(), KDL::Chain::getNrOfSegments(), and KDL::Chain::getSegment().
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
segment | new segment to add |
segment_name | name of the new segment |
hook_name | name of the segment to connect this segment with. |
Definition at line 59 of file tree.cpp.
Referenced by addChain(), and iTaSC::Armature::addSegment().
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.
tree | Tree to add |
tree_name | name of the tree |
hook_name | name of the segment to connect the tree with |
Definition at line 98 of file tree.cpp.
References tree.
Referenced by operator=(), and Tree().
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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.
Definition at line 131 of file tree.hpp.
Referenced by KDL::TreeFkSolverPos_recursive::JntToCart(), and KDL::TreeJntToJacSolver::JntToJac().
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Request the segment of the tree with name segment_name.
segment_name | the name of the requested segment |
Definition at line 149 of file tree.hpp.
Referenced by iTaSC::Armature::addConstraint(), iTaSC::Armature::addLimitConstraint(), and iTaSC::Armature::getSegment().
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Definition at line 154 of file tree.hpp.
Referenced by iTaSC::Armature::finalize(), KDL::TreeFkSolverPos_recursive::JntToCart(), and KDL::TreeJntToJacSolver::JntToJac().
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Definition at line 164 of file tree.hpp.
Referenced by iTaSC::Armature::addConstraint(), iTaSC::Armature::addEndEffector(), iTaSC::Armature::addLimitConstraint(), and iTaSC::Armature::getSegment().