public UrdfNode(UrdfNode parent, Link link, RosSharp.Urdf.Joint joint)
{
_children = new List <UrdfNode>();
_parent = parent;
_link = link;
_joint = joint;
}
/// <summary>
/// <para>SetParent</para>
/// Sets the parent of this node.
/// </summary>
/// <param name="parent">
/// Fully specified UrdfNode to be the parent.
/// Cannot be the same node you are calling the
/// function from.
/// </param>
/// <returns>
/// True if the parent was successfully set,
/// false if otherwise.
/// </returns>
public bool SetParent(UrdfNode parent)
{
// Cant set a node with the same link as a parent
// of itself
if (this._link == parent._link)
{
return(false);
}
this._parent = parent;
return(true);
}
/// <summary>
/// <para>AddChild</para>
/// Adds a child node to this node.
/// </summary>
/// <param name="child">
/// Fully defined UrdfNode to be
/// added as the child.
/// </param>
public void AddChild(UrdfNode child)
{
_children.Add(child);
}
/// <summary>
/// <para>HasChild</para>
/// Tests to see whether or not this node has a specific child.
/// </summary>
/// <param name="node">UrdfNode containing the node in question.</param>
/// <returns>True if node is a child, false if not</returns>
public bool HasChild(UrdfNode node)
{
return(_children.Contains(node));
}