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https://github.com/bulletphysics/bullet3
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55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
#ifndef MULTIBODYNAMEMAP_HPP_
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#define MULTIBODYNAMEMAP_HPP_
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include <string>
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#include <map>
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namespace btInverseDynamics {
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/// \brief The MultiBodyNameMap class
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/// Utility class that stores a maps from body/joint indices to/from body and joint names
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class MultiBodyNameMap {
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public:
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MultiBodyNameMap();
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/// add a body to the map
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/// @param index of the body
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/// @param name name of the body
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/// @return 0 on success, -1 on failure
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int addBody(const int index, const std::string& name);
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/// add a joint to the map
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/// @param index of the joint
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/// @param name name of the joint
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/// @return 0 on success, -1 on failure
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int addJoint(const int index, const std::string& name);
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/// get body name from index
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/// @param index of the body
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/// @param body_name name of the body
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/// @return 0 on success, -1 on failure
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int getBodyName(const int index, std::string* name) const;
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/// get joint name from index
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/// @param index of the joint
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/// @param joint_name name of the joint
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/// @return 0 on success, -1 on failure
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int getJointName(const int index, std::string* name) const;
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/// get body index from name
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/// @param index of the body
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/// @param name name of the body
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/// @return 0 on success, -1 on failure
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int getBodyIndex(const std::string& name, int* index) const;
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/// get joint index from name
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/// @param index of the joint
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/// @param name name of the joint
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/// @return 0 on success, -1 on failure
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int getJointIndex(const std::string& name, int* index) const;
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private:
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std::map<int, std::string> m_index_to_joint_name;
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std::map<int, std::string> m_index_to_body_name;
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std::map<std::string, int> m_joint_name_to_index;
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std::map<std::string, int> m_body_name_to_index;
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};
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}
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#endif // MULTIBODYNAMEMAP_HPP_
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