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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_multibody_geometry_object_filter_hpp__ |
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#define __pinocchio_multibody_geometry_object_filter_hpp__ |
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#include "pinocchio/multibody/instance-filter.hpp" |
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namespace pinocchio |
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{ |
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struct GeometryObjectFilterBase : InstanceFilterBase<GeometryObject> |
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{ |
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}; // struct GeometryObjectFilterBase |
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struct GeometryObjectFilterNothing final : GeometryObjectFilterBase |
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{ |
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bool operator()(const GeometryObject &) const |
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{ |
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return true; |
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} |
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}; // struct GeometryObjectFilterNothing |
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struct GeometryObjectFilterSelectByJoint final : GeometryObjectFilterBase |
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{ |
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GeometryObjectFilterSelectByJoint(const size_t joint_id) |
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: joint_id(joint_id) |
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{ |
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} |
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bool operator()(const GeometryObject & geometry_object) const |
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{ |
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return geometry_object.parentJoint == joint_id; |
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} |
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const size_t joint_id; |
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}; // struct GeometryObjectFilterSelectByJoint |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_multibody_geometry_object_filter_hpp__ |
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