geometry-object-filter.hpp

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