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#include "User2InternalIndex.hpp"
namespace btInverseDynamics {
User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
void User2InternalIndex::addBody(const int body, const int parent) {
m_user_parent_index_map[body] = parent;
}
int User2InternalIndex::findRoot(int index) {
if (0 == m_user_parent_index_map.count(index)) {
return index;
}
return findRoot(m_user_parent_index_map[index]);
}
// modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
// URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
// int urdfParentIndex)
void User2InternalIndex::recurseIndexSets(const int user_body_index) {
m_user_to_internal[user_body_index] = m_current_index;
m_current_index++;
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
recurseIndexSets(m_user_child_indices[user_body_index][i]);
}
}
int User2InternalIndex::buildMapping() {
// find root index
int user_root_index = -1;
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
int current_root_index = findRoot(it->second);
if (it == m_user_parent_index_map.begin()) {
user_root_index = current_root_index;
} else {
if (user_root_index != current_root_index) {
error_message("multiple roots (at least) %d and %d\n", user_root_index,
current_root_index);
return -1;
}
}
}
// build child index map
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
m_user_child_indices[it->second].push_back(it->first);
}
m_current_index = -1;
// build internal index set
m_user_to_internal[user_root_index] = -1; // add map for root link
recurseIndexSets(user_root_index);
// reverse mapping
for (std::map<int, int>::iterator it = m_user_to_internal.begin();
it != m_user_to_internal.end(); it++) {
m_internal_to_user[it->second] = it->first;
}
m_map_built = true;
return 0;
}
int User2InternalIndex::user2internal(const int user, int *internal) const {
if (!m_map_built) {
return -1;
}
std::map<int, int>::const_iterator it;
it = m_user_to_internal.find(user);
if (it != m_user_to_internal.end()) {
*internal = it->second;
return 0;
} else {
error_message("no user index %d\n", user);
return -1;
}
}
int User2InternalIndex::internal2user(const int internal, int *user) const {
if (!m_map_built) {
return -1;
}
std::map<int, int>::const_iterator it;
it = m_internal_to_user.find(internal);
if (it != m_internal_to_user.end()) {
*user = it->second;
return 0;
} else {
error_message("no internal index %d\n", internal);
return -1;
}
}
}
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