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.

Public Member Functions