Linkage.hpp

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#ifndef DART_DYNAMICS_LINKAGE_HPP_
#define DART_DYNAMICS_LINKAGE_HPP_
 
#include "dart/dynamics/ReferentialSkeleton.hpp"
#include <unordered_set>
 
namespace dart {
namespace dynamics {
 
class Linkage : public ReferentialSkeleton
{
public:
 
  struct Criteria
  {
    enum ExpansionPolicy
    {
      INCLUDE = 0,  
      EXCLUDE,      
      DOWNSTREAM,   
      UPSTREAM      
    };
 
    std::vector<BodyNode*> satisfy() const;
 
    struct Target
    {
      Target(BodyNode* _target = nullptr,
             ExpansionPolicy _policy = INCLUDE,
             bool _chain = false);
 
      WeakBodyNodePtr mNode;
 
      ExpansionPolicy mPolicy;
 
      bool mChain;
    };
 
    Target mStart;
 
    std::vector<Target> mTargets;
 
    struct Terminal
    {
      Terminal(BodyNode* _terminal = nullptr, bool _inclusive = true);
 
      WeakBodyNodePtr mTerminal;
 
      bool mInclusive;
    };
 
    std::vector<Terminal> mTerminals;
 
  protected:
 
    void refreshTerminalMap() const;
 
    void expansionPolicy(BodyNode* _start, ExpansionPolicy _policy,
                         std::vector<BodyNode*>& _bns) const;
 
    void expandDownstream(BodyNode* _start, std::vector<BodyNode*>& _bns,
                          bool _includeStart) const;
 
    void expandUpstream(BodyNode* _start, std::vector<BodyNode*>& _bns,
                        bool _includeStart) const;
 
    void expandToTarget(const Target& _start, const Target& _target,
                        std::vector<BodyNode*>& _bns) const;
 
    std::vector<BodyNode*> climbToTarget(BodyNode* _start, BodyNode* _target) const;
 
    std::vector<BodyNode*> climbToCommonRoot(
        const Target& _start, const Target& _target, bool _chain) const;
 
    void trimBodyNodes(std::vector<BodyNode*>& _bns, bool _chain,
                       bool _movingUpstream) const;
 
    mutable std::unordered_map<BodyNode*, bool> mMapOfTerminals;
  };
 
  static LinkagePtr create(const Criteria& _criteria,
                           const std::string& _name = "Linkage");
 
  LinkagePtr cloneLinkage() const;
 
  LinkagePtr cloneLinkage(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 isAssembled() const;
 
  void reassemble();
 
  void satisfyCriteria();
 
protected:
 
  Linkage(const Criteria& _criteria, const std::string& _name = "Linkage");
 
  virtual void update();
 
  Criteria mCriteria;
 
  std::vector<WeakBodyNodePtr> mParentBodyNodes;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_LINKAGE_HPP_