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#ifndef CLONETREE_CREATOR_HPP_
#define CLONETREE_CREATOR_HPP_
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
/// Generate an identical multibody tree from a reference system.
class CloneTreeCreator : public MultiBodyTreeCreator {
public:
/// ctor
/// @param reference the MultiBodyTree to clone
CloneTreeCreator(const MultiBodyTree*reference);
~CloneTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
const MultiBodyTree *m_reference;
};
}
#endif // CLONETREE_CREATOR_HPP_
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