/usr/include/kido/dynamics/Branch.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_BRANCH_HPP_
#define KIDO_DYNAMICS_BRANCH_HPP_
#include "kido/dynamics/Linkage.hpp"
namespace kido {
namespace dynamics {
/// Branch is a specialized type of Linkage that represents a complete subtree
/// of a Skeleton. The Branch will start at a specific BodyNode and will include
/// every BodyNode that descends from it, all the way to the leaves.
class Branch : public Linkage
{
public:
struct Criteria
{
/// Constructor. Requires a starting BodyNode.
Criteria(BodyNode* _start);
/// Return a vector of BodyNodes that form a full subtree, starting from
/// mStart
std::vector<BodyNode*> satisfy() const;
/// The BodyNode where the Branch starts
WeakBodyNodePtr mStart;
/// Convert this Criteria into Linkage criteria
Linkage::Criteria convert() const;
/// Operator for implicit conversion to a Linkage::Criteria
operator Linkage::Criteria() const;
};
/// Create a Branch
static BranchPtr create(const Branch::Criteria& _criteria,
const std::string& _name = "Branch");
/// Returns false if a new BodyNode has been attached to any BodyNode of this
/// Branch, or if a BodyNode of this Branch has been detached.
bool isStillBranch() const;
protected:
/// Constructor for the Branch class. Note that you can simply pass a BodyNode
/// pointer into this constructor, and it will be implicitly converted into a
/// Branch::Criteria.
Branch(const Branch::Criteria& _criteria,
const std::string& _name = "Branch");
// Documentation inherited
virtual void update();
/// The original number of child nodes for each BodyNode of this Branch
std::vector<size_t> mNumChildNodes;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_BRANCH_HPP_
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