KDL::Tree Class Reference

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 ()

Detailed Description

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

Definition at line 67 of file tree.hpp.

Constructor & Destructor Documentation

Tree() [1/2]

KDL::Tree::Tree

(

)

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

Definition at line 30 of file tree.cpp.

Tree() [2/2]

KDL::Tree::Tree

(

const Tree &

in

)

Definition at line 37 of file tree.cpp.

References addTree().

~Tree()

virtual KDL::Tree::~Tree ( )

inlinevirtual

Definition at line 169 of file tree.hpp.

Member Function Documentation

addChain()

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 83 of file tree.cpp.

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

addSegment()

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 59 of file tree.cpp.

Referenced by addChain(), and iTaSC::Armature::addSegment().

addTree()

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 98 of file tree.cpp.

References tree.

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

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 131 of file tree.hpp.

Referenced by KDL::TreeFkSolverPos_recursive::JntToCart(), and KDL::TreeJntToJacSolver::JntToJac().

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 140 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 149 of file tree.hpp.

Referenced by iTaSC::Armature::addConstraint(), iTaSC::Armature::addLimitConstraint(), and iTaSC::Armature::getSegment().

getSegmentPtr()

SegmentMap::value_type const* KDL::Tree::getSegmentPtr ( const std::string &  segment_name ) const

inline

Definition at line 154 of file tree.hpp.

Referenced by iTaSC::Armature::finalize(), KDL::TreeFkSolverPos_recursive::JntToCart(), and KDL::TreeJntToJacSolver::JntToJac().

getSegments()

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

inline

Definition at line 164 of file tree.hpp.

Referenced by iTaSC::Armature::addConstraint(), iTaSC::Armature::addEndEffector(), iTaSC::Armature::addLimitConstraint(), and iTaSC::Armature::getSegment().

operator=()

Tree & KDL::Tree::operator=

(

const Tree &

arg

)

Definition at line 48 of file tree.cpp.

References addTree().

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

• tree.hpp
• tree.cpp