1 files changed, 117 insertions, 0 deletions
diff --git a/intern/itasc/kdl/tree.cpp b/intern/itasc/kdl/tree.cpp
new file mode 100644
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+++ b/intern/itasc/kdl/tree.cpp
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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
+
+#include "tree.hpp"
+#include <sstream>
+namespace KDL {
+using namespace std;
+
+Tree::Tree() :
+    nrOfJoints(0), nrOfSegments(0) {
+    segments.insert(make_pair("root", TreeElement::Root()));
+}
+
+Tree::Tree(const Tree& in) {
+    segments.clear();
+    nrOfSegments = 0;
+    nrOfJoints = 0;
+
+    segments.insert(make_pair("root", TreeElement::Root()));
+    this->addTree(in, "", "root");
+
+}
+
+Tree& Tree::operator=(const Tree& in) {
+    segments.clear();
+    nrOfSegments = 0;
+    nrOfJoints = 0;
+
+    segments.insert(make_pair("root", TreeElement::Root()));
+    this->addTree(in, "", "root");
+    return *this;
+}
+
+bool Tree::addSegment(const Segment& segment, const std::string& segment_name,
+        const std::string& hook_name) {
+    SegmentMap::iterator parent = segments.find(hook_name);
+    //check if parent exists
+    if (parent == segments.end())
+        return false;
+    pair<SegmentMap::iterator, bool> retval;
+    //insert new element
+    retval = segments.insert(make_pair(segment_name, TreeElement(segment,
+            parent, nrOfJoints)));
+    //check if insertion succeeded
+    if (!retval.second)
+        return false;
+    //add iterator to new element in parents children list
+    parent->second.children.push_back(retval.first);
+    //increase number of segments
+    nrOfSegments++;
+    //increase number of joints
+	nrOfJoints += segment.getJoint().getNDof();
+    return true;
+}
+
+bool Tree::addChain(const Chain& chain, const std::string& chain_name,
+        const std::string& hook_name) {
+    string parent_name = hook_name;
+    for (unsigned int i = 0; i < chain.getNrOfSegments(); i++) {
+        ostringstream segment_name;
+        segment_name << chain_name << "Segment" << i;
+        if (this->addSegment(chain.getSegment(i), segment_name.str(),
+                parent_name))
+            parent_name = segment_name.str();
+        else
+            return false;
+    }
+    return true;
+}
+
+bool Tree::addTree(const Tree& tree, const std::string& tree_name,
+        const std::string& hook_name) {
+    return this->addTreeRecursive(tree.getSegment("root"), tree_name, hook_name);
+}
+
+bool Tree::addTreeRecursive(SegmentMap::const_iterator root,
+        const std::string& tree_name, const std::string& hook_name) {
+    //get iterator for root-segment
+    SegmentMap::const_iterator child;
+    //try to add all of root's children
+    for (unsigned int i = 0; i < root->second.children.size(); i++) {
+        child = root->second.children[i];
+        //Try to add the child
+        if (this->addSegment(child->second.segment, tree_name + child->first,
+                hook_name)) {
+            //if child is added, add all the child's children
+            if (!(this->addTreeRecursive(child, tree_name, tree_name
+                    + child->first)))
+                //if it didn't work, return false
+                return false;
+        } else
+            //If the child could not be added, return false
+            return false;
+    }
+    return true;
+}
+
+}
+