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