MetaSkeleton-impl.hpp

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#ifndef DART_DYNAMICS_DETAIL_METASKELETON_IMPL_HPP_
#define DART_DYNAMICS_DETAIL_METASKELETON_IMPL_HPP_
 
#include "dart/dynamics/MetaSkeleton.hpp"
 
namespace dart::dynamics {
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachBodyNode(Func func) const
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, const dynamics::BodyNode*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumBodyNodes(); ++i)
    {
      if (!func(getBodyNode(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumBodyNodes(); ++i)
    {
      func(getBodyNode(i));
    }
  }
}
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachBodyNode(Func func)
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, dynamics::BodyNode*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumBodyNodes(); ++i)
    {
      if (!func(getBodyNode(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumBodyNodes(); ++i)
    {
      func(getBodyNode(i));
    }
  }
}
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachJoint(Func func) const
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, const dynamics::Joint*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumJoints(); ++i)
    {
      if (!func(getJoint(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumJoints(); ++i)
    {
      func(getJoint(i));
    }
  }
}
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachJoint(Func func)
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, dynamics::Joint*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumJoints(); ++i)
    {
      if (!func(getJoint(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumJoints(); ++i)
    {
      func(getJoint(i));
    }
  }
}
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachDof(Func func) const
{
  if constexpr (std::is_same_v<
                    std::
                        invoke_result_t<Func, const dynamics::DegreeOfFreedom*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumDofs(); ++i)
    {
      if (!func(getDof(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumDofs(); ++i)
    {
      func(getDof(i));
    }
  }
}
 
//==============================================================================
template <typename Func>
void MetaSkeleton::eachDof(Func func)
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, dynamics::DegreeOfFreedom*>,
                    bool>)
  {
    for (auto i = 0u; i < getNumDofs(); ++i)
    {
      if (!func(getDof(i)))
        return;
    }
  }
  else
  {
    for (auto i = 0u; i < getNumDofs(); ++i)
    {
      func(getDof(i));
    }
  }
}
 
} // namespace dart::dynamics
 
#endif // DART_DYNAMICS_DETAIL_METASKELETON_IMPL_HPP_