DART  6.10.1
dart::dynamics::Chain::Criteria Struct Reference

#include <Chain.hpp>

Public Member Functions

 Criteria (BodyNode *start, BodyNode *target, bool includeUpstreamParentJoint=false)
 Constructor for Chain::Criteria. More...
 
std::vector< BodyNode * > satisfy () const
 Return a vector of BodyNodes that form a chain. More...
 
Linkage::Criteria convert () const
 Convert this Criteria into Linkage::Criteria. More...
 
 operator Linkage::Criteria () const
 Operator for implicit conversion to a Linkage::Criteria. More...
 

Static Public Member Functions

static Criteria convert (const Linkage::Criteria &criteria)
 Converts Linkage::Criteria to Chain::Criteria. More...
 

Public Attributes

WeakBodyNodePtr mStart
 mStart will be the first BodyNode in the chain More...
 
WeakBodyNodePtr mTarget
 mTarget will be the final BodyNode in the chain, unless there is a branching or a FreeJoint along the way More...
 
bool mIncludeUpstreamParentJoint
 Set this to true if the parent joint of whichever is upstream of the other should be included. More...
 

Constructor & Destructor Documentation

◆ Criteria()

dart::dynamics::Chain::Criteria::Criteria ( BodyNode start,
BodyNode target,
bool  includeUpstreamParentJoint = false 
)

Constructor for Chain::Criteria.

Member Function Documentation

◆ convert() [1/2]

Linkage::Criteria dart::dynamics::Chain::Criteria::convert ( ) const

Convert this Criteria into Linkage::Criteria.

◆ convert() [2/2]

Chain::Criteria dart::dynamics::Chain::Criteria::convert ( const Linkage::Criteria criteria)
static

◆ operator Linkage::Criteria()

dart::dynamics::Chain::Criteria::operator Linkage::Criteria ( ) const

Operator for implicit conversion to a Linkage::Criteria.

◆ satisfy()

std::vector< BodyNode * > dart::dynamics::Chain::Criteria::satisfy ( ) const

Return a vector of BodyNodes that form a chain.

Member Data Documentation

◆ mIncludeUpstreamParentJoint

bool dart::dynamics::Chain::Criteria::mIncludeUpstreamParentJoint

Set this to true if the parent joint of whichever is upstream of the other should be included.

◆ mStart

WeakBodyNodePtr dart::dynamics::Chain::Criteria::mStart

mStart will be the first BodyNode in the chain

◆ mTarget

WeakBodyNodePtr dart::dynamics::Chain::Criteria::mTarget

mTarget will be the final BodyNode in the chain, unless there is a branching or a FreeJoint along the way