TreeState Class Reference

The tree structure state of a work cell. More...

#include <TreeState.hpp>

Public Types
typedef std::vector< Frame * >	FrameList
	vector of frames

Public Member Functions
	TreeState ()
	Construct an empty TreeState.
	TreeState (rw::core::Ptr< StateSetup > setup)
	Construct an empty TreeState.
	TreeState (const TreeState &other)
	Copy constructor. More...
virtual	~TreeState ()
	destructor
const rw::kinematics::Frame *	getParent (rw::core::Ptr< const rw::kinematics::Frame > frame) const
	The parent frame of frame. More...
rw::kinematics::Frame *	getParent (rw::core::Ptr< rw::kinematics::Frame > frame) const
	The parent frame of frame. More...
const FrameList &	getChildren (rw::core::Ptr< const Frame > frame) const
	The child frames of frame. More...
void	attachFrame (rw::core::Ptr< Frame > frame, rw::core::Ptr< Frame > parent)
	Move a frame within the tree. More...
rw::core::Ptr< StateSetup >	getStateSetup () const
	gets the StateSetup used to create the TreeState More...

Detailed Description

The tree structure state of a work cell.

The tree structure state gives access to the parent and child frames of a frame.

Currently modification of the tree structure is not supported. (This implementation simply forwards to the non-public Tree data structure.)

Tree structure states can be copied and assigned freely.

Constructor & Destructor Documentation

TreeState()

TreeState ( const TreeState &  other )

explicit

Copy constructor.

Parameters

other

[in] other TreeState to copy.

Member Function Documentation

attachFrame()

void attachFrame	(	rw::core::Ptr< Frame >	frame,
		rw::core::Ptr< Frame >	parent
	)

Move a frame within the tree.

The frame frame is detached from its parent and reattached to parent. The frames frame and parent must both belong to the same tree.

We may want to later restrict this method so that only frames of certain types can be moved.

Parameters

frame	[in] The frame to move.
parent	[in] The frame to attach frame to.

getChildren()

const FrameList& getChildren

(

rw::core::Ptr< const Frame >

frame

)

const

The child frames of frame.

(We should query the modifiable part of the tree here, but that is not implemented yet.)

Note that we break const-correctness. We treat TreeState as an implementation detail upon which an iterator interface in Frame is then built.

Parameters

frame

[in] The frame for which to retrieve the children.

Returns

The children of the frame if any children exist, else NULL.

getParent() [1/2]

const rw::kinematics::Frame* getParent

(

rw::core::Ptr< const rw::kinematics::Frame >

frame

)

const

The parent frame of frame.

If the frame has no parent, then NULL is returned.

(We should query the modifiable part of the tree here, but that is not implemented yet.)

Parameters

frame

[in] The frame for which to retrieve the parent.

Returns

The parent of the frame or NULL if the frame has no parent.

getParent() [2/2]

rw::kinematics::Frame* getParent

(

rw::core::Ptr< rw::kinematics::Frame >

frame

)

const

The parent frame of frame.

If the frame has no parent, then NULL is returned.

(We should query the modifiable part of the tree here, but that is not implemented yet.)

Parameters

frame

[in] The frame for which to retrieve the parent.

Returns

The parent of the frame or NULL if the frame has no parent.

getStateSetup()

rw::core::Ptr<StateSetup> getStateSetup

(

)

const

gets the StateSetup used to create the TreeState

Returns

the StateSetup

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The documentation for this class was generated from the following file:

• TreeState.hpp