instance-filter.hpp

//
// Copyright (c) 2022 INRIA
//
 
#ifndef __pinocchio_multibody_instance_filter_hpp__
#define __pinocchio_multibody_instance_filter_hpp__
 
#include <vector>
 
namespace pinocchio
{
 
  template<typename T>
  struct InstanceFilterBase
  {
    virtual bool operator()(const T & obj) const = 0;
 
    template<typename Allocator>
    std::vector<size_t> apply(const std::vector<T, Allocator> & object_vector) const
    {
      std::vector<size_t> res;
      res.reserve(object_vector.size());
 
      for (size_t k = 0; k < object_vector.size(); ++k)
      {
        if ((*this)(object_vector[k]))
          res.push_back(k);
      }
 
      res.reserve(res.size());
      return res;
    }
  };
 
} // namespace pinocchio
 
#endif // #ifndef __pinocchio_multibody_instance_filter_hpp__