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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;
}
}
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