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#ifndef RANDOMTREE_CREATOR_HPP_
#define RANDOMTREE_CREATOR_HPP_
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
/// joints
/// Uses a pseudo random number generator seeded from a random device.
class RandomTreeCreator : public MultiBodyTreeCreator {
public:
/// ctor
/// @param max_bodies maximum number of bodies
/// @param gravity gravitational acceleration
/// @param use_seed if true, seed random number generator
RandomTreeCreator(const int max_bodies, bool use_seed=false);
~RandomTreeCreator();
///\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:
int m_num_bodies;
};
}
#endif // RANDOMTREE_CREATOR_HPP_
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