LinkMap::const_iterator UndirectedTreeLink::getAdjacentLink(int adjacent_index) const
{
assert( adjacent_index >= 0 && adjacent_index < (int)adjacent_joint.size());
if( adjacent_joint[adjacent_index]->parent->getLinkIndex() == getLinkIndex() ) {
assert( adjacent_joint[adjacent_index]->child == adjacent_link[adjacent_index] );
return adjacent_joint[adjacent_index]->child;
} else {
assert( adjacent_joint[adjacent_index]->child->getLinkIndex() == getLinkIndex() );
assert( adjacent_joint[adjacent_index]->parent == adjacent_link[adjacent_index] );
return adjacent_joint[adjacent_index]->parent;
}
}
bool Structure::Graph::removeLink( QString nid1, QString nid2 )
{
// link index
int idx = getLinkIndex(nid1, nid2);
if (idx == -1) return false;
// deallocate
delete links[idx];
links.remove(idx);
return true;
}
SpatialInertia DynamicsComputations::getLinkInertia(const std::string& linkName) const
{
int linkIndex = getLinkIndex(linkName);
if( linkIndex < 0 )
{
return SpatialInertia();
}
else
{
return this->getLinkInertia(linkIndex);
}
}
Link* Robot::getLink(const std::string &name)
{
int i = getLinkIndex(name);
return i >= 0 ? links_[i] : NULL;
}
bool Model::isLinkNameUsed(const std::string linkName)
{
return (LINK_INVALID_INDEX != getLinkIndex(linkName));
}
