TinyURDF 1.0.0
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internal_graph.h
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1#ifndef INCLUDE_TINYURDF_DETAIL_INTERNAL_GRAPH_H_
2#define INCLUDE_TINYURDF_DETAIL_INTERNAL_GRAPH_H_
3
4// Copyright 2024-2025 Wissem CHIHA
5
6#include "core/model.h"
7
12{
13 public:
16 InternalGraph(std::shared_ptr<Model> m);
17 std::vector<std::shared_ptr<Link>> getRootLinks();
18 std::vector<std::shared_ptr<Link>> getChildLinks(std::shared_ptr<Link> link);
19 std::vector<std::shared_ptr<Link>> getParentLinks(std::shared_ptr<Link> link);
20 std::vector<std::string> getChildLinkNames(std::shared_ptr<Link> link);
21 std::vector<std::string> getParentLinkNames(std::shared_ptr<Link> link);
22 std::string toString(std::shared_ptr<Link> link);
23
24 private:
25 std::shared_ptr<Model> m_;
26};
27#endif // INCLUDE_TINYURDF_DETAIL_INTERNAL_GRAPH_H_
base class for building multibody graph model
Definition internal_graph.h:12
std::vector< std::string > getParentLinkNames(std::shared_ptr< Link > link)
Definition internal_graph.cc:96
std::vector< std::shared_ptr< Link > > getRootLinks()
Definition internal_graph.cc:21
std::string toString(std::shared_ptr< Link > link)
Definition internal_graph.cc:110
std::vector< std::shared_ptr< Link > > getParentLinks(std::shared_ptr< Link > link)
Definition internal_graph.cc:54
InternalGraph()
Definition internal_graph.cc:7
std::vector< std::string > getChildLinkNames(std::shared_ptr< Link > link)
Definition internal_graph.cc:81
std::vector< std::shared_ptr< Link > > getChildLinks(std::shared_ptr< Link > link)
Definition internal_graph.cc:27
Base class for representing a multi-body system.
Definition model.h:22