LinkPath.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
15 #ifndef HRPMODEL_LINK_PATH_H_INCLUDED
16 #define HRPMODEL_LINK_PATH_H_INCLUDED
17 
18 #include "LinkTraverse.h"
19 #include "Config.h"
20 
21 namespace hrp {
22 
23  class HRPMODEL_API LinkPath : public LinkTraverse
24  {
25  public:
26 
27  LinkPath();
28  LinkPath(Link* base, Link* end);
29  LinkPath(Link* end);
30 
31  bool find(Link* base, Link* end);
32  void find(Link* end);
33 
34  inline Link* baseLink() const {
35  return links.front();
36  }
37 
38  inline Link* endLink() const {
39  return links.back();
40  }
41 
42  private:
43 
44  virtual void find(Link* root, bool doUpward, bool doDownward);
45 
46  bool findPathSub(Link* link, Link* prev, Link* end, bool isForwardDirection);
47  void findPathFromRootSub(Link* link);
48  };
49 
50 };
51 
52 #endif
hrp::LinkPath
Definition: LinkPath.h:23
hrp
Definition: ColdetModel.h:28
LinkTraverse.h
The header file of the LinkTraverse class.
hrp::LinkPath::baseLink
Link * baseLink() const
Definition: LinkPath.h:34
hrp::LinkPath::endLink
Link * endLink() const
Definition: LinkPath.h:38
hrp::LinkTraverse
Definition: LinkTraverse.h:29


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03