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KDL/install/include/kdl/tree.hpp
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227
KDL/install/include/kdl/tree.hpp
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_TREE_HPP
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#define KDL_TREE_HPP
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#include "config.h"
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#include "segment.hpp"
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#include "chain.hpp"
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#include <string>
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#include <map>
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#ifdef KDL_USE_NEW_TREE_INTERFACE
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#include <boost/shared_ptr.hpp>
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#endif //#ifdef KDL_USE_NEW_TREE_INTERFACE
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namespace KDL
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{
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class TreeElement;
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#ifdef KDL_USE_NEW_TREE_INTERFACE
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//We use smart pointers for managing tree nodes for now because
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//c++11 and unique_ptr support is not ubiquitous
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typedef boost::shared_ptr<TreeElement> TreeElementPtr;
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typedef boost::shared_ptr<const TreeElement> TreeElementConstPtr;
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typedef std::map<std::string, TreeElementPtr> SegmentMap;
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typedef TreeElementPtr TreeElementType;
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#define GetTreeElementChildren(tree_element) (tree_element)->children
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#define GetTreeElementParent(tree_element) (tree_element)->parent
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#define GetTreeElementQNr(tree_element) (tree_element)->q_nr
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#define GetTreeElementSegment(tree_element) (tree_element)->segment
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#else //#ifdef KDL_USE_NEW_TREE_INTERFACE
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//Forward declaration
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typedef std::map<std::string,TreeElement> SegmentMap;
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typedef TreeElement TreeElementType;
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#define GetTreeElementChildren(tree_element) (tree_element).children
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#define GetTreeElementParent(tree_element) (tree_element).parent
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#define GetTreeElementQNr(tree_element) (tree_element).q_nr
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#define GetTreeElementSegment(tree_element) (tree_element).segment
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#endif //#ifdef KDL_USE_NEW_TREE_INTERFACE
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class TreeElement
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{
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public:
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TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in):
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segment(segment_in),
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q_nr(q_nr_in),
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parent(parent_in)
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{}
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static TreeElementType Root(const std::string& root_name)
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{
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#ifdef KDL_USE_NEW_TREE_INTERFACE
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return TreeElementType(new TreeElement(root_name));
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#else //#define KDL_USE_NEW_TREE_INTERFACE
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return TreeElementType(root_name);
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#endif
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}
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Segment segment;
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unsigned int q_nr;
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SegmentMap::const_iterator parent;
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std::vector<SegmentMap::const_iterator > children;
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private:
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TreeElement(const std::string& name):segment(name), q_nr(0) {}
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};
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/**
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* \brief This class encapsulates a <strong>tree</strong>
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* kinematic interconnection structure. It is built out of segments.
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*
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* @ingroup KinematicFamily
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*/
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class Tree
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{
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private:
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SegmentMap segments;
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unsigned int nrOfJoints;
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unsigned int nrOfSegments;
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std::string root_name;
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bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& hook_name);
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public:
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/**
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* The constructor of a tree, a new tree is always empty
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*/
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explicit Tree(const std::string& root_name="root");
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Tree(const Tree& in);
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Tree& operator= (const Tree& arg);
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/**
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* Adds a new segment to the end of the segment with
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* hook_name as segment_name
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*
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* @param segment new segment to add
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* @param hook_name name of the segment to connect this
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* segment with.
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*
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* @return false if hook_name could not be found.
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*/
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bool addSegment(const Segment& segment, const std::string& hook_name);
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/**
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* Adds a complete chain to the end of the segment with
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* hook_name as segment_name.
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*
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* @param hook_name name of the segment to connect the chain with.
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*
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* @return false if hook_name could not be found.
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*/
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bool addChain(const Chain& chain, const std::string& hook_name);
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/**
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* Adds a complete tree to the end of the segment with
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* hookname as segment_name.
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*
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* @param tree Tree to add
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* @param hook_name name of the segment to connect the tree with
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*
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* @return false if hook_name could not be found
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*/
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bool addTree(const Tree& tree, const std::string& hook_name);
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/**
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* Request the total number of joints in the tree.\n
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* <strong> Important:</strong> It is not the same as the
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* total number of segments since a segment does not need to have
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* a joint.
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*
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* @return total nr of joints
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*/
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unsigned int getNrOfJoints()const
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{
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return nrOfJoints;
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};
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/**
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* Request the total number of segments in the tree.
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* @return total number of segments
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*/
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unsigned int getNrOfSegments()const {return nrOfSegments;};
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/**
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* Request the segment of the tree with name segment_name.
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*
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* @param segment_name the name of the requested segment
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*
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* @return constant iterator pointing to the requested segment
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*/
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SegmentMap::const_iterator getSegment(const std::string& segment_name)const
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{
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return segments.find(segment_name);
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};
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/**
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* Request the root segment of the tree
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*
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* @return constant iterator pointing to the root segment
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*/
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SegmentMap::const_iterator getRootSegment()const
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{
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return segments.find(root_name);
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};
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/**
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* Request the chain of the tree between chain_root and chain_tip. The chain_root
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* and chain_tip can be in different branches of the tree, the chain_root can be
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* an ancestor of chain_tip, and chain_tip can be an ancestor of chain_root.
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*
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* @param chain_root the name of the root segment of the chain
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* @param chain_tip the name of the tip segment of the chain
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* @param chain the resulting chain
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*
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* @return success or failure
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*/
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bool getChain(const std::string& chain_root, const std::string& chain_tip, Chain& chain)const;
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/**
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* Extract a tree having segment_name as root. Only child segments of
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* segment_name are added to the new tree.
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*
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* @param segment_name the name of the segment to be used as root
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* of the new tree
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* @param tree the resulting sub-tree
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*
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* @return success or failure
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*/
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bool getSubTree(const std::string& segment_name, Tree& tree)const;
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const SegmentMap& getSegments()const
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{
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return segments;
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}
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virtual ~Tree(){};
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};
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}
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#endif
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