DART  6.10.1
dart::dynamics::ReferentialSkeleton::IndexMap Struct Reference

A simple struct that contains the indexing of a BodyNode and its parent DegreesOfFreedom. More...

#include <ReferentialSkeleton.hpp>

Public Member Functions

 IndexMap ()
 Default constructor. More...
 
bool isExpired () const
 Returns true if nothing in this entry is mapping to a valid index any longer. More...
 

Public Attributes

std::size_t mBodyNodeIndex
 Index of the BodyNode. More...
 
std::size_t mJointIndex
 Index of the parent Joint. More...
 
std::vector< std::size_t > mDofIndices
 Indices of the parent DegreesOfFreedom. More...
 

Detailed Description

A simple struct that contains the indexing of a BodyNode and its parent DegreesOfFreedom.

Constructor & Destructor Documentation

◆ IndexMap()

dart::dynamics::ReferentialSkeleton::IndexMap::IndexMap ( )

Default constructor.

Initializes mBodyNodeIndex and mJointIndex to INVALID_INDEX

Member Function Documentation

◆ isExpired()

bool dart::dynamics::ReferentialSkeleton::IndexMap::isExpired ( ) const

Returns true if nothing in this entry is mapping to a valid index any longer.

Member Data Documentation

◆ mBodyNodeIndex

std::size_t dart::dynamics::ReferentialSkeleton::IndexMap::mBodyNodeIndex

Index of the BodyNode.

◆ mDofIndices

std::vector<std::size_t> dart::dynamics::ReferentialSkeleton::IndexMap::mDofIndices

Indices of the parent DegreesOfFreedom.

◆ mJointIndex

std::size_t dart::dynamics::ReferentialSkeleton::IndexMap::mJointIndex

Index of the parent Joint.