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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_multibody_instance_filter_hpp__ |
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#define __pinocchio_multibody_instance_filter_hpp__ |
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#include <vector> |
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namespace pinocchio |
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{ |
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/// \brief Instance filter base class |
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template<typename T> |
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struct InstanceFilterBase |
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{ |
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/// |
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/// \brief Returns true if the input obj matches the filter conditions |
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/// |
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/// \param[in] obj input geometry object to filter or not. |
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/// |
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/// \returns true if the obj matches the filter conditions |
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/// |
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virtual bool operator()(const T & obj) const = 0; |
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/// |
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/// \brief Apply the filter on the given vector of objects and returns the list of indexes of |
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/// the objects matching the filter conditions. |
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/// |
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/// \param[in] object_vector vector of objects. |
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/// |
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/// \returns the list of indexes of the objects matching the filter conditions. |
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/// |
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template<typename Allocator> |
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std::vector<size_t> apply(const std::vector<T, Allocator> & object_vector) const |
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{ |
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std::vector<size_t> res; |
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res.reserve(object_vector.size()); |
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for (size_t k = 0; k < object_vector.size(); ++k) |
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{ |
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if ((*this)(object_vector[k])) |
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res.push_back(k); |
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} |
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res.reserve(res.size()); |
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return res; |
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} |
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}; |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_multibody_instance_filter_hpp__ |
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