This class encapsulates a tree kinematic interconnection structure. More...
#include <tree.hpp>
Public Member Functions | |
| 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. | |
| 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. | |
| 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. | |
| 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. | |
| unsigned int | getNrOfJoints () const |
| Request the total number of joints in the tree. | |
| unsigned int | getNrOfSegments () const |
| Request the total number of segments in the tree. | |
| SegmentMap::const_iterator | getRootSegment () const |
| Request the root segment of the tree. | |
| SegmentMap::const_iterator | getSegment (const std::string &segment_name) const |
| Request the segment of the tree with name segment_name. | |
| const SegmentMap & | getSegments () const |
| Tree & | operator= (const Tree &arg) |
| Tree (const Tree &in) | |
| Tree (const std::string &root_name="root") | |
| The constructor of a tree, a new tree is always empty. | |
| virtual | ~Tree () |
This class encapsulates a tree kinematic interconnection structure.
It is build out of segments.
Definition at line 65 of file tree.hpp.
| KDL::Tree::Tree | ( | const std::string & | root_name = "root" |
) |
The constructor of a tree, a new tree is always empty.
Definition at line 28 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References KDL::TreeElement::Root().
| KDL::Tree::Tree | ( | const Tree & | in | ) |
Definition at line 33 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References addTree(), and KDL::TreeElement::Root().
| 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.
| chain | the chain. | |
| hook_name | name of the segment to connect the chain with. |
Definition at line 76 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References addSegment(), KDL::Segment::getName(), KDL::Chain::getNrOfSegments(), and KDL::Chain::getSegment().
| 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.
| segment | new segment to add | |
| hook_name | name of the segment to connect this segment with. |
Definition at line 54 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References KDL::Segment::getJoint(), KDL::Segment::getName(), KDL::Joint::getType(), and KDL::Joint::None.
Referenced by addChain().
| 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.
| tree | Tree to add | |
| hook_name | name of the segment to connect the tree with |
Definition at line 87 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References getRootSegment().
Referenced by operator=(), and Tree().
| 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 must be an ancester from chain_tip
| 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 |
Definition at line 110 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References KDL::Chain::addSegment(), KDL::Segment::getJoint(), KDL::Joint::getName(), getSegment(), KDL::Joint::getType(), KDL::Frame::Inverse(), KDL::Joint::JointAxis(), KDL::Joint::JointOrigin(), KDL::Frame::M, KDL::Segment::pose(), KDL::Joint::RotAxis, KDL::Joint::RotX, KDL::Joint::RotY, KDL::Joint::RotZ, KDL::Joint::TransAxis, KDL::Joint::TransX, KDL::Joint::TransY, and KDL::Joint::TransZ.
| 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.
Definition at line 126 of file tree.hpp.
Referenced by KDL::TreeIkSolverVel_wdls::CartToJnt(), KDL::TreeFkSolverPos_recursive::JntToCart(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls().
| unsigned int KDL::Tree::getNrOfSegments | ( | ) | const [inline] |
| SegmentMap::const_iterator KDL::Tree::getRootSegment | ( | ) | const [inline] |
| SegmentMap::const_iterator KDL::Tree::getSegment | ( | const std::string & | segment_name | ) | const [inline] |
Request the segment of the tree with name segment_name.
| segment_name | the name of the requested segment |
Definition at line 144 of file tree.hpp.
Referenced by getChain(), and KDL::TreeFkSolverPos_recursive::JntToCart().
| const SegmentMap& KDL::Tree::getSegments | ( | ) | const [inline] |
Definition at line 170 of file tree.hpp.
Referenced by KDL::TreeFkSolverPos_recursive::JntToCart(), and KDL::TreeJntToJacSolver::JntToJac().
Definition at line 43 of file Mod/Robot/App/kdl_cp/Tree.cpp.
References addTree(), and KDL::TreeElement::Root().
1.6.1