Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/kdl/tree.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_TREE_HPP
+#define KDL_TREE_HPP
+
+#include "segment.hpp"
+#include "chain.hpp"
+
+#include <string>
+#include <map>
+#include <Eigen/Core>
+
+namespace KDL
+{
+    //Forward declaration
+    class TreeElement;
+    // Eigen allocator is needed for alignment of Eigen data types
+    typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > > SegmentMap;
+
+    class TreeElement
+    {
+    public:
+        TreeElement():q_nr(0),parent(0)
+        {};
+    public:
+        Segment segment;
+        unsigned int q_nr;
+        SegmentMap::value_type const *parent;
+        std::vector<SegmentMap::const_iterator > children;
+        TreeElement(const Segment& segment_in,const SegmentMap::value_type& parent_in,unsigned int q_nr_in)
+        {
+			q_nr=q_nr_in;
+            segment=segment_in;
+            parent=&parent_in;
+        };
+        static TreeElement Root()
+        {
+            return TreeElement();
+        };
+    };
+
+    /**
+     * \brief  This class encapsulates a <strong>tree</strong>
+     * kinematic interconnection structure. It is build out of segments.
+     *
+     * @ingroup KinematicFamily
+     */
+    class Tree
+    {
+    private:
+        SegmentMap segments;
+        unsigned int nrOfJoints;
+        unsigned int nrOfSegments;
+
+        bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& tree_name, const std::string& hook_name);
+
+    public:
+        /**
+         * The constructor of a tree, a new tree is always empty
+         */
+        Tree();
+        Tree(const Tree& in);
+        Tree& operator= (const Tree& arg);
+
+        /**
+         * Adds a new segment to the end of the segment with
+         * hook_name as segment_name
+         *
+         * @param segment new segment to add
+         * @param segment_name name of the new segment
+         * @param hook_name name of the segment to connect this
+         * segment with.
+         *
+         * @return false if hook_name could not be found.
+         */
+        bool addSegment(const Segment& segment, const std::string& segment_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.
+         *
+         * @param chain Chain to add
+         * @param chain_name name of the chain
+         * @param hook_name name of the segment to connect the chain with.
+         *
+         * @return false if hook_name could not be found.
+         */
+        bool addChain(const Chain& chain, const std::string& chain_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.
+         *
+         * @param tree Tree to add
+         * @param tree_name name of the tree
+         * @param hook_name name of the segment to connect the tree with
+         *
+         * @return false if hook_name could not be found
+         */
+        bool addTree(const Tree& tree, const std::string& tree_name,const std::string& hook_name);
+
+        /**
+         * Request the total number of joints in the tree.\n
+         * <strong> Important:</strong> It is not the same as the
+         * total number of segments since a segment does not need to have
+         * a joint.
+         *
+         * @return total nr of joints
+         */
+        unsigned int getNrOfJoints()const
+        {
+            return nrOfJoints;
+        };
+
+        /**
+         * Request the total number of segments in the tree.
+         * @return total number of segments
+         */
+        unsigned int getNrOfSegments()const {return nrOfSegments;};
+
+        /**
+         * Request the segment of the tree with name segment_name.
+         *
+         * @param segment_name the name of the requested segment
+         *
+         * @return constant iterator pointing to the requested segment
+         */
+        SegmentMap::const_iterator getSegment(const std::string& segment_name)const
+        {
+            return segments.find(segment_name);
+        };
+
+        SegmentMap::value_type const* getSegmentPtr(const std::string& segment_name)const
+        {
+            SegmentMap::const_iterator it = segments.find(segment_name);
+            
+            if (it == segments.end())
+                return 0;
+
+            return &*it;
+        };
+
+        const SegmentMap& getSegments()const
+        {
+            return segments;
+        }
+
+        virtual ~Tree(){};
+    };
+}
+#endif
+
+
+
+
+