the StateStructure is responsible for handling a structure of StateData and Frames More...

#include <StateStructure.hpp>

Public Types
typedef rw::core::Ptr< StateStructure >	Ptr
	smart pointer type of this class

typedef boost::function< void(const kinematics::StateData *)>	StateDataAddedListener
	Defines a listener for StateData added events. More...

typedef boost::function< void(const kinematics::StateData *)>	StateDataRemovedListener
	Defines a listener for StateData removed events. More...

typedef rw::core::Event< StateDataAddedListener, const kinematics::StateData * >	StateDataAddedEvent
	Defines event for StateData added.

typedef rw::core::Event< StateDataRemovedListener, const kinematics::StateData * >	StateDataRemovedEvent
	Defines event for StateData removed.

Public Member Functions
	StateStructure ()
	constructs a frame tree with a default root frame with the name "WORLD".

virtual	~StateStructure ()
	destructor

bool	has (rw::core::Ptr< const StateData > data)
	tests if StateData data exist in this StateStructure More...

int	getMaxID () const
	gets the max ID of any StateData/Frame currently in the tree. More...

void	addData (StateData *data)
	adds a statedata to the frame tree and allocates memory for its states. This method updates the default state. More...

void	addData (rw::core::Ptr< StateData > data)
	adds a statedata to the frame tree and allocates memory for its states. This method updates the default state. More...

void	addFrame (rw::core::Ptr< Frame > frame, rw::core::Ptr< Frame > parent=NULL)
	adds a frame to the frame tree and statically associates the frame with the parent frame. This method updates the default state. More...

void	addDAF (rw::core::Ptr< Frame > frame, rw::core::Ptr< Frame > parent)
	adds a DAF to the frame tree and dynamicly associates the frame with a parent frame. More...

void	remove (rw::core::Ptr< StateData > data)
	removes a StateData object from the tree. The actual deletion of the object will happen when no States depend on the StateData anymore. More...

State	upgradeState (const State &oldState)
	upgrades the state to the default state, but without clearing the values of the state. More...

const State &	getDefaultState () const
	get the default state of the frame tree More...

void	setDefaultState (const State &state)
	set the default state of the dynamic frame tree if the given state is an older state then states valid in both new and old version will be copied to the default state.

const std::vector< rw::core::Ptr< StateData > > &	getStateData () const
	All state data in the tree. More...

const std::vector< Frame * > &	getFrames () const
	All frames of the tree. Notice that elements in this vector can be NULL. More...

const std::vector< Frame * > &	getDAFs () const
	All DAFs of the tree. More...

const Frame *	getRoot () const
	get root of state structure More...

rw::kinematics::Frame *	getRoot ()
	get root of state structure More...

void	cleanup (int ID=-1)
	destructs all frames and statedata that is not used any more. More...

kinematics::Frame *	findFrame (const std::string &name) const
	Returns frame with the specified name. More...

rw::core::Ptr< kinematics::StateData >	findData (const std::string &name) const
	Find data from name. More...

StateDataAddedEvent &	stateDataAddedEvent ()
	Returns StateDataAddedEvent object needed for subscription to and firing of event. More...

StateDataRemovedEvent &	stateDataRemovedEvent ()
	Returns StateDataRemovedEvent object needed for subscription to and firing of event. More...

Detailed Description

the StateStructure is responsible for handling a structure of StateData and Frames

Member Typedef Documentation

◆ StateDataAddedListener

typedef boost::function<void(const kinematics::StateData*)> StateDataAddedListener

Defines a listener for StateData added events.

Parameters

StateData [in] the statedata that has been added

◆ StateDataRemovedListener

typedef boost::function<void(const kinematics::StateData*)> StateDataRemovedListener

Defines a listener for StateData removed events.

Parameters

StateData [in] the statedata that has been removed.

Member Function Documentation

◆ addDAF()

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

adds a DAF to the frame tree and dynamicly associates the frame with a parent frame.

Note: the parent frame must exist in the frame tree and cannot be NULL.

◆ addData() [1/2]

void addData ( rw::core::Ptr< StateData > data )

adds a statedata to the frame tree and allocates memory for its states. This method updates the default state.

Note: Ownership is not taken, the data object may not have been added to any StateStructure before.

◆ addData() [2/2]

void addData ( StateData * data )

adds a statedata to the frame tree and allocates memory for its states. This method updates the default state.

Note: Ownership is taken, the data object may not have been added to any StateStructure before.

◆ addFrame()

void addFrame	(	rw::core::Ptr< Frame >	frame,
		rw::core::Ptr< Frame >	parent = `NULL`
	)

adds a frame to the frame tree and statically associates the frame with the parent frame. This method updates the default state.

If parent frame is null then the frame will be attached to the world frame.

◆ cleanup()

void cleanup ( int ID = -1 )

destructs all frames and statedata that is not used any more.

Parameters

ID	[in] used to include a specific StateData ID for destruction, defualt -1 to ignore this option.

◆ findData()

rw::core::Ptr<kinematics::StateData> findData ( const std::string & name ) const

Find data from name.

Parameters

name	[in] the name.

Returns: the data if found.

◆ findFrame()

kinematics::Frame* findFrame ( const std::string & name ) const

Returns frame with the specified name.

If multiple frames has the same name, the first frame encountered will be returned. If no frame is found, the method returns NULL.

Parameters

name	[in] name of Frame.

Returns: The frame with name name or NULL if no such frame.

◆ getDAFs()

const std::vector<Frame*>& getDAFs ( ) const

inline

All DAFs of the tree.

Returns: All DAFs of the tree.

◆ getDefaultState()

const State& getDefaultState ( ) const

get the default state of the frame tree

Returns: the default tree state

◆ getFrames()

const std::vector<Frame*>& getFrames ( ) const

inline

All frames of the tree. Notice that elements in this vector can be NULL.

Returns: All frames of the tree.

◆ getMaxID()

int getMaxID ( ) const

inline

gets the max ID of any StateData/Frame currently in the tree.

All frame/data IDs (see StateData::getID()) for the data of the tree are lower than this number (and greater than or equal to zero).

◆ getRoot() [1/2]

rw::kinematics::Frame* getRoot ( )

inline

get root of state structure

Returns: the root frame of the StateStructure

◆ getRoot() [2/2]

const Frame* getRoot ( ) const

inline

get root of state structure

Returns: the root frame of the StateStructure

◆ getStateData()

const std::vector<rw::core::Ptr<StateData> >& getStateData ( ) const

inline

All state data in the tree.

Returns: All state data in the tree

◆ has()

bool has ( rw::core::Ptr< const StateData > data )

tests if StateData data exist in this StateStructure

Returns: true if the data was found, false otherwise

Note: the search includes the union of StateData in all StateSetup's that belong to the StateStructure

◆ remove()

void remove ( rw::core::Ptr< StateData > data )

removes a StateData object from the tree. The actual deletion of the object will happen when no States depend on the StateData anymore.

Parameters

data	[in] pointer to object that is to be removed

Note: if the data object is a frame and it has staticly connected children then the remove operation is illigal.; if the data object is a frame and it has dynamicly attached children then all of these will change parent relation ship such that world will become their parent.

◆ stateDataAddedEvent()

StateDataAddedEvent& stateDataAddedEvent ( )

inline

Returns StateDataAddedEvent object needed for subscription to and firing of event.

Returns: Reference to the StateDataAddedEvent

◆ stateDataRemovedEvent()

StateDataRemovedEvent& stateDataRemovedEvent ( )

inline

Returns StateDataRemovedEvent object needed for subscription to and firing of event.

Returns: Reference to the StateDataRemovedEvent

◆ upgradeState()

State upgradeState ( const State & oldState )

upgrades the state to the default state, but without clearing the values of the state.

Parameters

oldState [in] the state that should be upgraded

Returns: the upgraded state

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

StateStructure.hpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ StateDataAddedListener

◆ StateDataRemovedListener

Member Function Documentation

◆ addDAF()

◆ addData() [1/2]

◆ addData() [2/2]

◆ addFrame()

◆ cleanup()

◆ findData()

◆ findFrame()

◆ getDAFs()

◆ getDefaultState()

◆ getFrames()

◆ getMaxID()

◆ getRoot() [1/2]

◆ getRoot() [2/2]

◆ getStateData()

◆ has()

◆ remove()

◆ stateDataAddedEvent()

◆ stateDataRemovedEvent()

◆ upgradeState()