Chain.hpp

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#ifndef DART_DYNAMICS_CHAIN_HPP_
#define DART_DYNAMICS_CHAIN_HPP_
 
#include "dart/dynamics/Linkage.hpp"
 
namespace dart {
namespace dynamics {
 
class Chain : public Linkage
{
public:
 
  struct Criteria
  {
    Criteria(
      BodyNode* start,
      BodyNode* target,
      bool includeUpstreamParentJoint = false);
 
    std::vector<BodyNode*> satisfy() const;
 
    WeakBodyNodePtr mStart;
 
    WeakBodyNodePtr mTarget;
 
    bool mIncludeUpstreamParentJoint;
 
    Linkage::Criteria convert() const;
 
    operator Linkage::Criteria() const;
 
    static Criteria convert(const Linkage::Criteria& criteria);
  };
 
  enum IncludeUpstreamParentJointTag { IncludeUpstreamParentJoint };
 
  static ChainPtr create(const Chain::Criteria& _criteria,
                         const std::string& _name = "Chain");
 
  static ChainPtr create(BodyNode* _start, BodyNode* _target,
                         const std::string& _name = "Chain");
 
  static ChainPtr create(
      BodyNode* _start,
      BodyNode* _target,
      IncludeUpstreamParentJointTag,
      const std::string& _name = "Chain");
 
  ChainPtr cloneChain() const;
 
  ChainPtr cloneChain(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 isStillChain() const;
 
protected:
 
  Chain(const Chain::Criteria& _criteria, const std::string& _name = "Chain");
 
  Chain(BodyNode* _start, BodyNode* _target,
        const std::string& _name = "Chain");
 
  Chain(BodyNode* _start, BodyNode* _target,
        IncludeUpstreamParentJointTag, const std::string& _name = "Chain");
 
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_CHAIN_HPP_