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OSCAR::Node Class Reference
[ObstacleAvoidance]

A Node a tree modeling structure containing instances of the primitives and child nodes, as well as methods to update the locations of the Node and the modeling objects contained within this Node and its children. Basically, a Node has a list of Node's inside it. This list of nodes constitutes its children. A Node also has a list of Primitive's in it. This list of Primitives constitutes the obstacles associated with just itself. More...

#include <Node.hpp>

Inheritance diagram for OSCAR::Node:

[legend]List of all members.


Public Methods
	Node (const Xform &local=Xform(), const String &name=String(), OSCARError &err=DUMMY_ERROR(noError))
	Node (const Node &rhs)
Node &	operator= (const Node &rhs)
virtual	~Node ()
Node *	GetParent () const
const NodeList &	GetChildren () const
NodeList &	GetChildren ()
const PrimitiveList &	GetPrimitives () const
PrimitiveList &	GetPrimitives ()
bool	Add (Node *node)
bool	Remove (Node *node)
bool	Add (const Primitive *primitive)
bool	Remove (Primitive *primitive)
bool	Move (Node from, Node node)
bool	Move (Node &from, Primitive *primitive)
const Xform &	GetLocalXform () const
Xform	GetLocalXform ()
const Xform &	GetGlobalXform () const
Xform	GetGlobalXform ()
bool	IsRoot () const
unsigned int	NumChildren (bool thisNodeOnly=false) const
unsigned int	NumPrimitives (bool thisNodeOnly=false) const
bool	Update (const Xform &transform)
Protected Methods
bool	deallocate ()
bool	update ()
Protected Attributes
Xform	toParent
Xform	toGlobal
Node *	parent
NodeList	children
PrimitiveList	primitives

Detailed Description

Author:: Chalongrath Pholsiri and Andrew Spencer

Constructor & Destructor Documentation

OSCAR::Node::Node ( const Xform & local = Xform(),

const String & name = String(),

OSCARError & err = DUMMY_ERROR(noError)

)

Contructor.
Construct a node from the Xform that gives the nodes local transformation from its parent node, w.r.t. the parents local frame. The constructed node, if not meant to be a root node, should then be added to its parent by the Add method called from the parent node.
Parameters:

local The local transformation matrix from the nodes parent node w.r.t. the parent node's local frame. Default to identity.

name An String that specifies the name of the Base object being created. The default is an empty String.

err A reference to an object of type OSCARError. The default OSCARError object holds values that imply a "No Error" state.

OSCAR::Node::Node ( const Node & rhs )

Copy Constructor. This will copy all the contents (including all the child nodes and primitives) of rhs to the newly-constructed (or this) node. The parent of this node will be the same as the parent of rhs but this node will NOT be added the parent's children node list. The user must explicitly add this node to a parent node and may also have to change the name of this node by calling SetName() because the ModelingObjectMap requires that each node has a unique name.

Parameters:

rhs The node to be copied from.

virtual OSCAR::Node::~Node ( ) [virtual]

Destructor.

Member Function Documentation

bool OSCAR::Node::Add ( const Primitive * primitive )

Add a primitive to this node. This adds a primitive to the end of the primitive list contained within this Node. This function will COPY the primitive and add the copy to this node. Also, the primitive will be updated using the global transformation of this node.

Parameters:

primitive A pointer to Primitive to be added.

bool OSCAR::Node::Add ( Node * node )

Add a child node to this node. This adds a node to the end of the node list contained within this Node. It does this by swapping the contents of the argument into the calling object. This basically renders the node and primitive lists inside the argument object as empty lists. Also, the newly-added node will be updated using the global transformation of this node.

Parameters:

node A pointer to Node to be added. It's important to note that after this function returns, the argument primitive and node lists will be empty as their contents will have been swapped to the calling object newly added child. Swapping occurs to prevent copying large amounts of data.

bool OSCAR::Node::deallocate ( ) [protected]

NodeList& OSCAR::Node::GetChildren ( )

Get all the child nodes. CAUTION: This method may be removed later when a procedure of accessing specific nodes using maps is implemented.

Returns:
A reference of the children list.

const NodeList& OSCAR::Node::GetChildren ( ) const

Get const reference to all the children.

Returns:
A reference of the children list.

Xform OSCAR::Node::GetGlobalXform ( )

Get the global transformation matrix for this node. The global transformation matrix is a transformation of this node relative to the world frame.

Returns:
The global tranformation matrix.

const Xform& OSCAR::Node::GetGlobalXform ( ) const

Get the global transformation matrix for this node. The global transformation matrix is a transformation of this node relative to the world frame.

Returns:
The global tranformation matrix.

Xform OSCAR::Node::GetLocalXform ( )

Get the local transformation matrix for this node. The local transformation matrix is a transformation of this node relative to its parent. The transformation is w.r.t. the local frame of the parent node.

Returns:
The local tranformation matrix.

const Xform& OSCAR::Node::GetLocalXform ( ) const

Get the local transformation matrix for this node. The local transformation matrix is a transformation of this node relative to its parent. The transformation is w.r.t. the local frame of the parent node.

Returns:
The local tranformation matrix.

Node* OSCAR::Node::GetParent ( ) const

Get the parent node.

Returns:
A pointer to the parent node.

PrimitiveList& OSCAR::Node::GetPrimitives ( )

Get all the primitives. CAUTION: This method may be removed later when a procedure of accessing specific primitives using maps is implemented.

Returns:
A reference of the primitive list.

const PrimitiveList& OSCAR::Node::GetPrimitives ( ) const

Get const reference to all the primitives.

Returns:
A reference of the primitive list.

bool OSCAR::Node::IsRoot ( ) const

Return whether or not this node is a root node.

Returns:
true if this node is a root node or false otherwise.

bool OSCAR::Node::Move ( Node & from,

Primitive * primitive

)

Move a primitive from another node to this node. This will move the argument primitive without any copying. The moved node will point to the same address as before. However, the primitive will be updated using the global transformation of this node.

Parameters:

from The node from which a child node is moved.

primitive A pointer to Primitive to be moved.

bool OSCAR::Node::Move ( Node * from,

Node * node

)

Move a child node from another node to this node. This will move the argument node without any copying. The moved node will point to the same address as before. However, its child nodes and primitives will be updated using the global transformation of this node.

Parameters:

from The node from which a child node is moved. NULL if the node has no parent (IE it is the root node). If this is the case then nothing will be done regarding the deletion of this node from its original source, and that task is left to the user.

node A pointer to Node to be moved.

unsigned int OSCAR::Node::NumChildren ( bool thisNodeOnly = false ) const

The number of child nodes under this node.

Parameters:

thisNodeOnly If true, then this method only returns the number of child nodes of this only. If false, it then returns the total number of child nodes under this node including child nodes of its children.

unsigned int OSCAR::Node::NumPrimitives ( bool thisNodeOnly = false ) const

The number of primitives under this node.

Parameters:

thisNodeOnly If true, then this method only returns the number of primitives of this only. If false, it then returns the total number of primitives under this node including primitives of its children.

Node& OSCAR::Node::operator= ( const Node & rhs )

Assignement operator. This will copy all the contents (including all the child nodes and primitives) of rhs to this node. The parent of this node will be the same as the parent of rhs but this node will NOT be added the parent's children node list. The user must explicitly add this node to a parent node and may also have to change the name of this node by calling SetName() because the ModelingObjectMap requires that each node has a unique name.

Parameters:

rhs The node to be copied from.

bool OSCAR::Node::Remove ( Primitive * primitive )

Remove a primitive from this node. IMPORTANT: Use with caution. Remove will destroy the primitive in the argument. Do not use Remove and Add methods to move primitive. Use Move method instead.

Parameters:

primitive A pointer to Primitive to be removed.

bool OSCAR::Node::Remove ( Node * node )

Remove a child node from this node. IMPORTANT: Use with caution. Remove will destroy the node in the argument. Do not use Remove and Add methods to move node. Use Move method instead.

Parameters:

node A pointer to Node to be removed.

bool OSCAR::Node::update ( ) [protected]

Update the global transformation of this node, its child nodes, and its primitives.

bool OSCAR::Node::Update ( const Xform & transform ) [virtual]

Update the locations of all the child nodes and primitives.

Parameters:

transform The transformation matrix used to update the locations with respect to the parent or the world frame if this is a root node. This call will also update the transformations of this node's child nodes and primitives.

Returns:
true if updated successfully (i.e. if this node is a root node) or false otherwise.

Reimplemented from OSCAR::ModelingObject.