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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
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