Branch.hpp

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#ifndef DART_DYNAMICS_BRANCH_HPP_
#define DART_DYNAMICS_BRANCH_HPP_
 
#include "dart/dynamics/Linkage.hpp"
 
namespace dart {
namespace dynamics {
 
class Branch : public Linkage
{
public:
 
  struct Criteria
  {
    Criteria(BodyNode* _start);
 
    std::vector<BodyNode*> satisfy() const;
 
    WeakBodyNodePtr mStart;
 
    Linkage::Criteria convert() const;
 
    operator Linkage::Criteria() const;
 
    static Criteria convert(const Linkage::Criteria& criteria);
  };
 
  static BranchPtr create(const Branch::Criteria& _criteria,
                          const std::string& _name = "Branch");
 
  BranchPtr cloneBranch() const;
 
  BranchPtr cloneBranch(const std::string& cloneName) const;
 
  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;
 
  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(const std::string& cloneName) const override;
 
  bool isStillBranch() const;
 
protected:
 
  Branch(const Branch::Criteria& _criteria,
         const std::string& _name = "Branch");
 
  // Documentation inherited
  void update() override;
 
  std::vector<std::size_t> mNumChildNodes;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_BRANCH_HPP_