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Diffstat (limited to 'libre/blender/tree_hpp.patch')
| -rw-r--r-- | libre/blender/tree_hpp.patch | 183 |
1 files changed, 183 insertions, 0 deletions
diff --git a/libre/blender/tree_hpp.patch b/libre/blender/tree_hpp.patch new file mode 100644 index 000000000..4d00a223d --- /dev/null +++ b/libre/blender/tree_hpp.patch @@ -0,0 +1,183 @@ +diff --git a/intern/itasc/kdl/tree.hpp b/intern/itasc/kdl/tree.hpp +index c8a253fc901..bd35f82d185 100644 +--- a/intern/itasc/kdl/tree.hpp ++++ b/intern/itasc/kdl/tree.hpp +@@ -1,177 +1,177 @@ + // 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<std::string, TreeElement> > > SegmentMap; ++ 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 + + + + + |