2009-09-24 21:22:24 +00:00
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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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#ifndef KDL_TREE_HPP
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#define KDL_TREE_HPP
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#include "segment.hpp"
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#include "chain.hpp"
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#include <string>
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#include <map>
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2011-11-15 21:55:07 +00:00
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#if !defined(__APPLE__) && !defined(MAC_OS_X_VERSION_10_5)
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2011-11-13 12:25:14 +00:00
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#include <Eigen/Core>
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2011-11-15 21:55:07 +00:00
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#endif
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2009-09-24 21:22:24 +00:00
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namespace KDL
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{
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//Forward declaration
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class TreeElement;
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2011-11-15 21:55:07 +00:00
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#if !defined(__APPLE__) && !defined(MAC_OS_X_VERSION_10_5)
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2011-11-13 12:25:14 +00:00
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// Eigen allocator is needed for alignment of Eigen data types
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typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
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2011-11-15 21:55:07 +00:00
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#else
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typedef std::map<std::string,TreeElement> SegmentMap;
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#endif
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2009-09-24 21:22:24 +00:00
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class TreeElement
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{
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2012-06-03 12:00:41 +00:00
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public:
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2009-09-24 21:22:24 +00:00
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TreeElement():q_nr(0)
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{};
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public:
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Segment segment;
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unsigned int q_nr;
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SegmentMap::const_iterator parent;
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std::vector<SegmentMap::const_iterator > children;
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TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in)
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{
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q_nr=q_nr_in;
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segment=segment_in;
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parent=parent_in;
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};
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static TreeElement Root()
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{
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return TreeElement();
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};
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};
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/**
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* \brief This class encapsulates a <strong>tree</strong>
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* kinematic interconnection structure. It is build out of segments.
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*
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* @ingroup KinematicFamily
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*/
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class Tree
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{
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private:
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SegmentMap segments;
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unsigned int nrOfJoints;
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unsigned int nrOfSegments;
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bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& tree_name, const std::string& hook_name);
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public:
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/**
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* The constructor of a tree, a new tree is always empty
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*/
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Tree();
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Tree(const Tree& in);
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Tree& operator= (const Tree& arg);
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/**
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* Adds a new segment to the end of the segment with
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* hook_name as segment_name
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*
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* @param segment new segment to add
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* @param segment_name name of the new segment
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* @param hook_name name of the segment to connect this
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* segment with.
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*
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* @return false if hook_name could not be found.
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*/
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bool addSegment(const Segment& segment, const std::string& segment_name, const std::string& hook_name);
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/**
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* Adds a complete chain to the end of the segment with
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* hook_name as segment_name. Segment i of
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* the chain will get chain_name+".Segment"+i as segment_name.
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*
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* @param chain Chain to add
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* @param chain_name name of the chain
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* @param hook_name name of the segment to connect the chain with.
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*
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* @return false if hook_name could not be found.
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*/
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bool addChain(const Chain& chain, const std::string& chain_name, const std::string& hook_name);
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/**
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* Adds a complete tree to the end of the segment with
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* hookname as segment_name. The segments of the tree will get
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* tree_name+segment_name as segment_name.
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*
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* @param tree Tree to add
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* @param tree_name name of the tree
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* @param hook_name name of the segment to connect the tree with
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*
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* @return false if hook_name could not be found
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*/
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bool addTree(const Tree& tree, const std::string& tree_name,const std::string& hook_name);
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/**
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* Request the total number of joints in the tree.\n
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* <strong> Important:</strong> It is not the same as the
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* total number of segments since a segment does not need to have
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* a joint.
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*
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* @return total nr of joints
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*/
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unsigned int getNrOfJoints()const
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{
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return nrOfJoints;
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};
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/**
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* Request the total number of segments in the tree.
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* @return total number of segments
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*/
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unsigned int getNrOfSegments()const {return nrOfSegments;};
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/**
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* Request the segment of the tree with name segment_name.
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*
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* @param segment_name the name of the requested segment
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*
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* @return constant iterator pointing to the requested segment
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*/
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SegmentMap::const_iterator getSegment(const std::string& segment_name)const
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{
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return segments.find(segment_name);
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};
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const SegmentMap& getSegments()const
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{
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return segments;
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}
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virtual ~Tree(){};
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};
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}
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#endif
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