The Criteria class is used to specify how a Linkage should be constructed. More...

#include <Linkage.hpp>

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

struct	Terminal
	Any expansion performed by the criteria will be halted if mTerminal is reached. More...

Public Types
enum	ExpansionPolicy { INCLUDE = 0 , EXCLUDE , DOWNSTREAM , UPSTREAM }
	The ExpansionPolicy indicates how the collection of BodyNodes should expand from the starting BodyNode (mStart) More...

Public Member Functions
std::vector< BodyNode * >	satisfy () const
	Return a vector of BodyNodes that satisfy the parameters of the Criteria. More...

	Criteria ()=default
	Constructs an empty criteria that will lead to creating an empty Linkage. More...

	Criteria (BodyNode start, BodyNode target, bool includeUpstreamParentJoint=false)
	Utility constructor to create a contiguous sequence of BodyNodes that doesn't include branches in it. More...

Public Attributes
Target	mStart
	This Target will serve as the starting point for the criteria satisfaction. More...

std::vector< Target >	mTargets
	The Linkage will extend from mStart to each of these targets. More...

std::vector< Terminal >	mTerminals
	Any expansion (whether from an ExpansionPolicy or an attempt to reach an entry in mTargets) will be halted if it reaches any entry in mTerminal. More...

Protected Member Functions
void	refreshTerminalMap () const
	Refresh the content of mMapOfTerminals. More...

void	expansionPolicy (BodyNode _start, ExpansionPolicy _policy, std::vector< BodyNode > &_bns) const
	Satisfy the expansion policy of a target. More...

void	expandDownstream (BodyNode _start, std::vector< BodyNode > &_bns, bool _includeStart) const
	Expand downstream. More...

void	expandUpstream (BodyNode _start, std::vector< BodyNode > &_bns, bool _includeStart) const
	Expand upstream. More...

void	expandToTarget (const Target &_start, const Target &_target, std::vector< BodyNode * > &_bns) const
	Construct a path from start to target. More...

std::vector< BodyNode * >	climbToTarget (BodyNode _start, BodyNode _target) const
	Expand upwards from the _start BodyNode to the _target BodyNode. More...

std::vector< BodyNode * >	climbToCommonRoot (const Target &_start, const Target &_target, bool _chain) const
	Expand upwards from both BodyNodes to a common root. More...

void	trimBodyNodes (std::vector< BodyNode * > &_bns, bool _chain, bool _movingUpstream) const
	Crawl through the list and cut it off anywhere that the criteria is violated. More...

Protected Attributes
std::unordered_map< BodyNode *, bool >	mMapOfTerminals
	Hashed set for terminals to allow quick lookup. More...

Detailed Description

The Criteria class is used to specify how a Linkage should be constructed.

Member Enumeration Documentation

◆ ExpansionPolicy

enum dart::dynamics::Linkage::Criteria::ExpansionPolicy

The ExpansionPolicy indicates how the collection of BodyNodes should expand from the starting BodyNode (mStart)

Enumerator
INCLUDE	Do not expand from the target. Include everything up to the target and then stop.
EXCLUDE	Do not expand from the target. Include everything up to the target, but NOT the target, and then stop.
DOWNSTREAM	Include the target, and then expand downstream, toward the leaves of the tree.
UPSTREAM	Include the target, and then expand upstream, toward the root of the tree.

Constructor & Destructor Documentation

◆ Criteria() [1/2]

dart::dynamics::Linkage::Criteria::Criteria ( )

default

Constructs an empty criteria that will lead to creating an empty Linkage.

◆ Criteria() [2/2]

dart::dynamics::Linkage::Criteria::Criteria	(	BodyNode *	start,
		BodyNode *	target,
		bool	includeUpstreamParentJoint = `false`
	)

Utility constructor to create a contiguous sequence of BodyNodes that doesn't include branches in it.

The start and target can be interchangeably set if both are included in the sequence.

Parameters

[in]	start	The first BodyNode in the sequence. If `nullptr` is passed the sequence will expand from `target` to the root.
[in]	target	The second BodyNode in the sequence. If `nullptr` is passed the sequence will expand from `start` to the root.
[in]	includeUpstreamParentJoint	Set this to true if the parent joint of whichever is upstream of the other should be included.

Member Function Documentation

◆ climbToCommonRoot()

std::vector< BodyNode * > dart::dynamics::Linkage::Criteria::climbToCommonRoot	(	const Target &	_start,
		const Target &	_target,
		bool	_chain
	)		const

protected

Expand upwards from both BodyNodes to a common root.

◆ climbToTarget()

std::vector< BodyNode * > dart::dynamics::Linkage::Criteria::climbToTarget	(	BodyNode *	_start,
		BodyNode *	_target
	)		const

protected

Expand upwards from the _start BodyNode to the _target BodyNode.

◆ expandDownstream()

void dart::dynamics::Linkage::Criteria::expandDownstream	(	BodyNode *	_start,
		std::vector< BodyNode * > &	_bns,
		bool	_includeStart
	)		const

protected

Expand downstream.

◆ expandToTarget()

void dart::dynamics::Linkage::Criteria::expandToTarget	(	const Target &	_start,
		const Target &	_target,
		std::vector< BodyNode * > &	_bns
	)		const

protected

Construct a path from start to target.

◆ expandUpstream()

void dart::dynamics::Linkage::Criteria::expandUpstream	(	BodyNode *	_start,
		std::vector< BodyNode * > &	_bns,
		bool	_includeStart
	)		const

protected

Expand upstream.

◆ expansionPolicy()

void dart::dynamics::Linkage::Criteria::expansionPolicy	(	BodyNode *	_start,
		ExpansionPolicy	_policy,
		std::vector< BodyNode * > &	_bns
	)		const

protected

Satisfy the expansion policy of a target.

◆ refreshTerminalMap()

void dart::dynamics::Linkage::Criteria::refreshTerminalMap ( ) const

protected

Refresh the content of mMapOfTerminals.

◆ satisfy()

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

Return a vector of BodyNodes that satisfy the parameters of the Criteria.

◆ trimBodyNodes()

void dart::dynamics::Linkage::Criteria::trimBodyNodes	(	std::vector< BodyNode * > &	_bns,
		bool	_chain,
		bool	_movingUpstream
	)		const

protected

Crawl through the list and cut it off anywhere that the criteria is violated.

Member Data Documentation

◆ mMapOfTerminals

std::unordered_map<BodyNode*, bool> dart::dynamics::Linkage::Criteria::mMapOfTerminals

mutableprotected

Hashed set for terminals to allow quick lookup.

◆ mStart

Target dart::dynamics::Linkage::Criteria::mStart

This Target will serve as the starting point for the criteria satisfaction.

◆ mTargets

std::vector<Target> dart::dynamics::Linkage::Criteria::mTargets

The Linkage will extend from mStart to each of these targets.

Each BodyNode along the way will be included in the Linkage, including the mTarget. However, if a terminal BodyNode is reached along the way, then nothing past the terminal BodyNode will be included. Therefore, If you want to expand towards a target but not include the target, you can set the BodyNode as both an mTarget and an mTerminal, and set the mInclusive flag in mTerminal to false.

◆ mTerminals

std::vector<Terminal> dart::dynamics::Linkage::Criteria::mTerminals

Any expansion (whether from an ExpansionPolicy or an attempt to reach an entry in mTargets) will be halted if it reaches any entry in mTerminal.

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ExpansionPolicy

Constructor & Destructor Documentation

◆ Criteria() [1/2]

◆ Criteria() [2/2]

Member Function Documentation

◆ climbToCommonRoot()

◆ climbToTarget()

◆ expandDownstream()

◆ expandToTarget()

◆ expandUpstream()

◆ expansionPolicy()

◆ refreshTerminalMap()

◆ satisfy()

◆ trimBodyNodes()

Member Data Documentation

◆ mMapOfTerminals

◆ mStart

◆ mTargets

◆ mTerminals