DART  6.10.1
dart::dynamics::Linkage::Criteria::Target Struct Reference

This structure defines targets for the expansion criteria and the desired behavior for those targets. More...

#include <Linkage.hpp>

Public Member Functions

 Target (BodyNode *_target=nullptr, ExpansionPolicy _policy=INCLUDE, bool _chain=false)
 Default constructor for Target. More...
 

Public Attributes

WeakBodyNodePtr mNode
 The Linkage will expand from the starting BodyNode up to this node. More...
 
ExpansionPolicy mPolicy
 After the target has been reached (if it is reached), the Linkage will start to follow this expansion policy. More...
 
bool mChain
 If this is set to true, the expansion towards this target will terminate if (1) a fork/split in the kinematics is reached or (2) a FreeJoint is reached. More...
 

Detailed Description

This structure defines targets for the expansion criteria and the desired behavior for those targets.

Constructor & Destructor Documentation

◆ Target()

dart::dynamics::Linkage::Criteria::Target::Target ( BodyNode _target = nullptr,
ExpansionPolicy  _policy = INCLUDE,
bool  _chain = false 
)

Default constructor for Target.

Member Data Documentation

◆ mChain

bool dart::dynamics::Linkage::Criteria::Target::mChain

If this is set to true, the expansion towards this target will terminate if (1) a fork/split in the kinematics is reached or (2) a FreeJoint is reached.

◆ mNode

WeakBodyNodePtr dart::dynamics::Linkage::Criteria::Target::mNode

The Linkage will expand from the starting BodyNode up to this node.

◆ mPolicy

ExpansionPolicy dart::dynamics::Linkage::Criteria::Target::mPolicy

After the target has been reached (if it is reached), the Linkage will start to follow this expansion policy.