FrameTreeNode Class Reference

A frame-tree is expected to adhere to the following requirements: * Frame names of children of a node are unique. More...

Collaboration diagram for FrameTreeNode:

List of all members.

Public Member Functions
	FrameTreeNode (Frame frame)
	Create a new FrameTreeNode with null parent and assigned frame.
	FrameTreeNode (String frameName)
	Create a new FrameTreeNode with null parent and a new Frame with name frameName.
	FrameTreeNode (String frameName, Matrix4d xfm)
	Create a new FrameTreeNode with null parent and a new Frame with name frameName.
FrameTreeNode	set (FrameTreeNode toCopy)
	Set the Frame data to toCopy Only payload data is copied, not children or parent.
FrameTreeNode	clone (FrameTreeNode parent)
	Clone node and its offsprings.
Frame	getData ()
	for compatibility with c++ api
Frame	getFrame ()
FrameTreeNode	attachChild (FrameTreeNode node)
	Attach a child node.
FrameTreeNode	mergeChild (FrameTreeNode node)
	Merge a child.
FrameTreeNode	findChild (String name)
	Find a child with matching name.
boolean	removeChild (FrameTreeNode node)
	Remove node from list of children and set it's parent to null.
void	detachFromParent ()
void	setParent (FrameTreeNode newParent)
	Set the parent of the node.
FrameTreeNode	getParent ()
boolean	isRoot ()
boolean	isLeaf ()
FrameTreeNode	getRoot ()
	Search upward in tree to find root.
boolean	isAncestorOf (FrameTreeNode node)
List< FrameTreeNode >	getAncestry ()
	Get an ordered list of ancestors which begins at root and ends at (and includes) this node.
List< FrameTreeNode >	getAncestry (List< FrameTreeNode > store)
FrameTreeNode	getLastCommonAncestor (FrameTreeNode that)
	Calculate the last common ancestor.
FrameTreeNode	getLastCommonAncestor (FrameTreeNode that, List< FrameTreeNode > thisAncestors, List< FrameTreeNode > thatAncestors)
List< FrameTreeNode >	getChildren ()
List< FrameTreeNode >	getChildren (boolean sortByName)
int	getNumChildren ()
	get the number of direct decendants of this node
int	getNumOffspring ()
	Recursively count number of nodes underneath this node.
boolean	traverseBreadthFirst (IFrameVisitor visitor)
	Breadth first traversal.
boolean	traversePreOrder (IFrameVisitor visitor)
	Depth first, pre-order traversal.
boolean	traversePreOrder (IFrameVisitor visitor, boolean sortByName)
boolean	traversePostOrder (IFrameVisitor visitor)
	Depth first, post-order traversal.
boolean	equals (Object o)
	If the contained Frame name matches this one, return equal.
Protected Member Functions
	FrameTreeNode (FrameTreeNode parent, String frameName)
	Create a new node with the given name and assigned it a parent.
	FrameTreeNode (FrameTreeNode parent, String frameName, Matrix4d xfm)
	Create a new node with the given name, parent and transform.
Protected Attributes
Frame	m_data
FrameTreeNode	m_parent
final ArrayList< FrameTreeNode >	m_children = new ArrayList<FrameTreeNode>()

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Detailed Description

* Frame names do not contain the character '/'. * Frames are not named ".", "..", nor "...". * The transform has an invertible matrix.

These requirements are not checked explicitly in the FrameTreeNode interface. Only the FrameStore interface explicitly checks these requirements and flags errors if frames are added to the frame-store, that do not meet these assumptions.

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Constructor & Destructor Documentation

FrameTreeNode

(

Frame

frame

)

Parameters:

frame

FrameTreeNode

(

String

frameName

)

Parameters:

frameName

name for new Frame

FrameTreeNode	(	FrameTreeNode	parent,
		String	frameName
	)		[protected]

Parameters:

parent
frameName

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FrameTreeNode	(	FrameTreeNode	parent,
		String	frameName,
		Matrix4d	xfm
	)		[protected]

Parameters:

parent
frameName
xfm

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FrameTreeNode	(	String	frameName,
		Matrix4d	xfm
	)

Parameters:

frameName

name for new Frame

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Member Function Documentation

FrameTreeNode attachChild

(

FrameTreeNode

node

)

If the node has an existing parent, it is re-parented to this. XXX FIXME XXX what do we do when a child with the same name is attached? Throw an exception or merge?

Returns:

node if attach was successful, else null

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FrameTreeNode clone

(

FrameTreeNode

parent

)

The new node is becoming a child of parent. Default is NULL, which creates a new root node.

Parameters:

parent

void detachFromParent

(

)

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boolean equals

(

Object

o

)

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FrameTreeNode findChild

(

String

name

)

Parameters:

name

Returns:

List<FrameTreeNode> getAncestry

(

)

Returns:

List<FrameTreeNode> getAncestry

(

List< FrameTreeNode >

store

)

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List<FrameTreeNode> getChildren

(

)

Returns:

a copy of this node's list of children

List<FrameTreeNode> getChildren

(

boolean

sortByName

)

Frame getData

(

)

Frame getFrame

(

)

FrameTreeNode getLastCommonAncestor

(

FrameTreeNode

that

)

Returns:

null if the nodes are not connected. If either node is a direct ancestor of the other, that node is returned.

FrameTreeNode getLastCommonAncestor	(	FrameTreeNode	that,
		List< FrameTreeNode >	thisAncestors,
		List< FrameTreeNode >	thatAncestors
	)

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int getNumChildren

(

)

Returns:

int getNumOffspring

(

)

Returns:

FrameTreeNode getParent

(

)

Returns:

parent node

FrameTreeNode getRoot

(

)

Linear time.

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boolean isAncestorOf

(

FrameTreeNode

node

)

Returns:

true if this is ancestor of node

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boolean isLeaf

(

)

Returns:

true if node has no children

boolean isRoot

(

)

Returns:

true of parent == null

FrameTreeNode mergeChild

(

FrameTreeNode

node

)

If a matching child exists, perform a FrameTree.mergeFrameTrees, otherwise, attachChild();

Parameters:

node

Returns:

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boolean removeChild

(

FrameTreeNode

node

)

FrameTreeNode set

(

FrameTreeNode

toCopy

)

Todo:

Mark: explain the rationale behind this.

Shouldn't this method call something like setFrame, or have a different signature like set(Frame)

Returns:

this

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void setParent

(

FrameTreeNode

newParent

)

This call re-parents the sub-tree. If the node had a parent before, it gets removed from the previous parent's list of children.

Setting the parent to NULL makes the node a root-node.

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boolean traverseBreadthFirst

(

IFrameVisitor

visitor

)

The visitor's up() and down() methods are not called.

Returns:

true only if the visitor has a stop condition and the condition is met

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boolean traversePostOrder

(

IFrameVisitor

visitor

)

Returns:

true only if the visitor has a stop condition and the condition is met

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boolean traversePreOrder

(

IFrameVisitor

visitor

)

Returns:

true only if the visitor has a stop condition and the condition is met

boolean traversePreOrder	(	IFrameVisitor	visitor,
		boolean	sortByName
	)

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Member Data Documentation

final ArrayList<FrameTreeNode> m_children = new ArrayList<FrameTreeNode>() [protected]

Frame m_data [protected]

FrameTreeNode m_parent [protected]

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

• FrameTreeNode.java