Static Public Member Functions
static taoNodeRoot *	taoRootRepCreator (const SRobotParsed &arg_robot)

Static Private Member Functions
static bool	createChildTaoNodes (const SRigidBody arg_link, taoNode arg_parent)

static taoNode *	createTaoNonRootNode (const SRigidBody arg_link, const taoNode arg_parent_node)

Detailed Description

This class translates a scl database entry for a robot into a tao tree. It does not store any data.

This class will ideally be used once at the start of the program to initialize the tao branching representation.

Constructor & Destructor Documentation

scl::CTaoRepCreator::CTaoRepCreator ( )

inlineprivate

Constructor : Does nothing

scl::CTaoRepCreator::~CTaoRepCreator ( )

inline

Destructor : Does nothing

bool scl::CTaoRepCreator::createChildTaoNodes	(	const SRigidBody *	arg_link,
		taoNode *	arg_parent
	)

staticprivate

Creates a child tao node given a robot link with all the required information to initialize the node.

This function creates child tao nodes for a given link in the robot's definition.

taoNode * scl::CTaoRepCreator::createTaoNonRootNode	(	const SRigidBody *	arg_link,
		const taoNode *	arg_parent_node
	)

staticprivate

Creates a tao node for a non-root link given an initialized home frame The node is added to the SRigidBody* structure.

This function initializes a node in the tree being created

Returns a taoNode*

Sets the following parameters for the new taoNode:

taoNodeRoot * scl::CTaoRepCreator::taoRootRepCreator ( const SRobotParsed & arg_robot )

static

Creates a tao root structure out of a set of robot definitions. Does not manage the returned memory.

input : Robot name output : taoNodeRoot*

Returns, NULL : failure Valid taoNodeRoot pointer : success

NOTE : Remember to dereference the vectors in taoNodeRoot

Creates a tao root structure out of a set of robot definitions

Also assigns ids to the SRigidBody objects

input : Robot name output : taoNodeRoot*

Returns, NULL : failure Valid taoNodeRoot pointer : success

NOTE : Remember to dereference the vectors in taoNodeRoot

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