Skeleton.hpp

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#ifndef DART_DYNAMICS_DETAIL_SKELETON_HPP_
#define DART_DYNAMICS_DETAIL_SKELETON_HPP_
 
#include "dart/dynamics/Skeleton.hpp"
 
namespace dart {
namespace dynamics {
 
//==============================================================================
template <class JointType>
JointType* Skeleton::moveBodyNodeTree(
    BodyNode* _bodyNode,
    const SkeletonPtr& _newSkeleton,
    BodyNode* _parentNode,
    const typename JointType::Properties& _joint)
{
  JointType* parentJoint = new JointType(_joint);
 
  if(moveBodyNodeTree(parentJoint, _bodyNode, _newSkeleton, _parentNode))
    return parentJoint;
 
  // If the move failed, we should delete the Joint that we created and return
  // a nullptr.
  delete parentJoint;
  return nullptr;
}
 
//==============================================================================
template <class JointType>
std::pair<JointType*, BodyNode*> Skeleton::cloneBodyNodeTree(
    const BodyNode* _bodyNode,
    const SkeletonPtr& _newSkeleton,
    BodyNode* _parentNode,
    const typename JointType::Properties& _joint, bool _recursive) const
{
  JointType* parentJoint = new JointType(_joint);
  std::pair<Joint*, BodyNode*> root =
      cloneBodyNodeTree(parentJoint, _bodyNode, _newSkeleton, _parentNode,
                        _recursive);
  return std::pair<JointType*, BodyNode*>(parentJoint, root.second);
}
 
//==============================================================================
template <class JointType, class NodeType>
std::pair<JointType*, NodeType*> Skeleton::createJointAndBodyNodePair(
    BodyNode* _parent,
    const typename JointType::Properties& _jointProperties,
    const typename NodeType::Properties& _bodyProperties)
{
  JointType* joint = new JointType(_jointProperties);
  NodeType* node = new NodeType(_parent, joint, _bodyProperties);
  registerBodyNode(node);
 
  return std::pair<JointType*, NodeType*>(joint, node);
}
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_SKELETON_HPP_