7 #ifndef CNOID_BODY_LINK_TRAVERSE_H 8 #define CNOID_BODY_LINK_TRAVERSE_H 28 virtual void find(
Link* root,
bool doUpward =
false,
bool doDownward =
true);
43 return (links.empty() ? 0 : links.front());
50 Link* operator[] (
int index)
const {
54 std::vector<Link*>::const_iterator
begin()
const {
58 std::vector<Link*>::const_iterator
end()
const {
68 return (index >= numUpwardConnections);
71 void calcForwardKinematics(
bool calcVelocity =
false,
bool calcAcceleration =
false)
const;
78 void traverse(
Link* link,
bool doUpward,
bool doDownward,
bool isUpward,
Link* prev);
Link * rootLink() const
Definition: LinkTraverse.h:42
bool empty() const
Definition: LinkTraverse.h:34
std::vector< Link * >::const_iterator end() const
Definition: LinkTraverse.h:58
int numLinks() const
Definition: LinkTraverse.h:30
bool isDownward(int index) const
Definition: LinkTraverse.h:67
std::vector< Link * > links
Definition: LinkTraverse.h:74
int numUpwardConnections
Definition: LinkTraverse.h:75
Link * link(int index) const
Definition: LinkTraverse.h:46
std::vector< Link * >::const_iterator begin() const
Definition: LinkTraverse.h:54
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: LinkTraverse.h:17
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
std::size_t size() const
Definition: LinkTraverse.h:38