33 #ifndef DART_DYNAMICS_BRANCH_HPP_
34 #define DART_DYNAMICS_BRANCH_HPP_
55 std::vector<BodyNode*>
satisfy()
const;
69 const std::string& _name =
"Branch");
81 const std::string& _name =
"Branch");
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
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:78
Branch(const Branch::Criteria &_criteria, const std::string &_name="Branch")
Constructor for the Branch class.
Definition: Branch.cpp:94
void update() override
Update any metadata needed by the Linkage or its derived classes.
Definition: Branch.cpp:101
std::vector< std::size_t > mNumChildNodes
The original number of child nodes for each BodyNode of this Branch.
Definition: Branch.hpp:87
static BranchPtr create(const Branch::Criteria &_criteria, const std::string &_name="Branch")
Create a Branch.
Definition: Branch.cpp:69
A Linkage is a ReferentialSkeleton with the special property that all the BodyNodes included in it fo...
Definition: Linkage.hpp:54
std::shared_ptr< Branch > BranchPtr
Definition: SmartPointer.hpp:75
Definition: BulletCollisionDetector.cpp:63
Definition: Branch.hpp:49
Criteria(BodyNode *_start)
Constructor. Requires a starting BodyNode.
Definition: Branch.cpp:40
WeakBodyNodePtr mStart
The BodyNode where the Branch starts.
Definition: Branch.hpp:58
Linkage::Criteria convert() const
Convert this Criteria into Linkage criteria.
Definition: Branch.cpp:53
std::vector< BodyNode * > satisfy() const
Return a vector of BodyNodes that form a full subtree, starting from mStart.
Definition: Branch.cpp:47
The Criteria class is used to specify how a Linkage should be constructed.
Definition: Linkage.hpp:59