DART  6.10.1
Branch.hpp
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32 
33 #ifndef DART_DYNAMICS_BRANCH_HPP_
34 #define DART_DYNAMICS_BRANCH_HPP_
35 
37 
38 namespace dart {
39 namespace dynamics {
40 
44 class Branch : public Linkage
45 {
46 public:
47  struct Criteria
48  {
50  Criteria(BodyNode* _start);
51 
54  std::vector<BodyNode*> satisfy() const;
55 
58 
60  Linkage::Criteria convert() const;
61 
63  operator Linkage::Criteria() const;
64 
66  static Criteria convert(const Linkage::Criteria& criteria);
67  };
68 
70  static BranchPtr create(
71  const Branch::Criteria& _criteria, const std::string& _name = "Branch");
72 
74  BranchPtr cloneBranch() const;
75 
77  BranchPtr cloneBranch(const std::string& cloneName) const;
78 
79  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
81 
82  // Documentation inherited
84  const std::string& cloneName) const override;
85 
88  bool isStillBranch() const;
89 
90 protected:
94  Branch(
95  const Branch::Criteria& _criteria, const std::string& _name = "Branch");
96 
97  // Documentation inherited
98  void update() override;
99 
101  std::vector<std::size_t> mNumChildNodes;
102 };
103 
104 } // namespace dynamics
105 } // namespace dart
106 
107 #endif // DART_DYNAMICS_BRANCH_HPP_
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
Branch is a specialized type of Linkage that represents a complete subtree of a Skeleton.
Definition: Branch.hpp:45
bool isStillBranch() const
Returns false if a new BodyNode has been attached to any BodyNode of this Branch, or if a BodyNode of...
Definition: Branch.cpp:130
virtual MetaSkeletonPtr cloneMetaSkeleton(const std::string &cloneName) const=0
Creates an identical clone of this MetaSkeleton.
Branch(const Branch::Criteria &_criteria, const std::string &_name="Branch")
Constructor for the Branch class.
Definition: Branch.cpp:146
void update() override
Update any metadata needed by the Linkage or its derived classes.
Definition: Branch.cpp:153
std::vector< std::size_t > mNumChildNodes
The original number of child nodes for each BodyNode of this Branch.
Definition: Branch.hpp:101
BranchPtr cloneBranch() const
Creates and returns a clone of this Branch.
Definition: Branch.cpp:92
static BranchPtr create(const Branch::Criteria &_criteria, const std::string &_name="Branch")
Create a Branch.
Definition: Branch.cpp:83
A Linkage is a ReferentialSkeleton with the special property that all the BodyNodes included in it fo...
Definition: Linkage.hpp:54
MetaSkeletonPtr cloneMetaSkeleton() const
Creates an identical clone of this MetaSkeleton.
Definition: MetaSkeleton.cpp:328
std::shared_ptr< Branch > BranchPtr
Definition: SmartPointer.hpp:75
std::shared_ptr< MetaSkeleton > MetaSkeletonPtr
Definition: SmartPointer.hpp:68
Definition: BulletCollisionDetector.cpp:65
Definition: Branch.hpp:48
Criteria(BodyNode *_start)
Constructor. Requires a starting BodyNode.
Definition: Branch.cpp:40
WeakBodyNodePtr mStart
The BodyNode where the Branch starts.
Definition: Branch.hpp:57
Linkage::Criteria convert() const
Convert this Criteria into Linkage criteria.
Definition: Branch.cpp:52
std::vector< BodyNode * > satisfy() const
Return a vector of BodyNodes that form a full subtree, starting from mStart.
Definition: Branch.cpp:46
The Criteria class is used to specify how a Linkage should be constructed.
Definition: Linkage.hpp:58