/usr/include/kido/dynamics/Chain.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_CHAIN_HPP_
#define KIDO_DYNAMICS_CHAIN_HPP_
#include "kido/dynamics/Linkage.hpp"
namespace kido {
namespace dynamics {
/// Chain is a specialized type of Linkage that represents a single unbranching
/// and fully connected sequence of BodyNodes. A chain will start from a
/// specified BodyNode and include every BodyNode on the way to a target
/// BodyNode, except it will stop if it encounters a branching (BodyNode with
/// multiple child BodyNodes) or a FreeJoint.
class Chain : public Linkage
{
public:
struct Criteria
{
/// Constructor for Chain::Criteria
Criteria(BodyNode* _start, BodyNode* _target, bool _includeBoth = false);
/// Return a vector of BodyNodes that form a chain
std::vector<BodyNode*> satisfy() const;
/// mStart will be the first BodyNode in the chain
WeakBodyNodePtr mStart;
/// mTarget will be the final BodyNode in the chain, unless there is a
/// branching or a FreeJoint along the way
WeakBodyNodePtr mTarget;
/// Set this to true if both the start and the target BodyNode should be
/// included. Otherwise, whichever is upstream of the other will be left out
/// of the chain.
bool mIncludeBoth;
/// Convert this Criteria into Linkage::Criteria
Linkage::Criteria convert() const;
/// Operator for implicit conversion to a Linkage::Criteria
operator Linkage::Criteria() const;
};
/// This enum is used to specify to the create() function that both the start
/// and the target BodyNodes should be included in the Chain that gets
/// generated.
enum IncludeBoth_t { IncludeBoth };
/// Create a Chain given some Chain::Criteria
static ChainPtr create(const Chain::Criteria& _criteria,
const std::string& _name = "Chain");
/// Create a Chain given a start and a target BodyNode. Note that whichever
/// BodyNode is upstream of the other will be excluded from the Chain.
static ChainPtr create(BodyNode* _start, BodyNode* _target,
const std::string& _name = "Chain");
/// Create a Chain given a start and a target BodyNode. In this version, both
/// BodyNodes will be included in the Chain that gets created.
static ChainPtr create(BodyNode* _start, BodyNode* _target,
IncludeBoth_t, const std::string& _name = "Chain");
/// Returns false if this Chain has been broken, or some new Branching has
/// been added.
bool isStillChain() const;
protected:
/// Constructor for the Chain class
Chain(const Chain::Criteria& _criteria, const std::string& _name = "Chain");
/// Alternative constructor for the Chain class
Chain(BodyNode* _start, BodyNode* _target,
const std::string& _name = "Chain");
/// Alternative constructor for the Chain class
Chain(BodyNode* _start, BodyNode* _target,
IncludeBoth_t, const std::string& _name = "Chain");
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_CHAIN_HPP_
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