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#ifndef MULTI_BODY_TREE_CREATOR_HPP_
#define MULTI_BODY_TREE_CREATOR_HPP_
#include <string>
#include <vector>
#include "BulletInverseDynamics/IDConfig.hpp"
#include "BulletInverseDynamics/IDMath.hpp"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics
{
/// Interface class for initializing a MultiBodyTree instance.
/// Data to be provided is modeled on the URDF specification.
/// The user can derive from this class in order to programmatically
/// initialize a system.
class MultiBodyTreeCreator
{
public:
/// the dtor
virtual ~MultiBodyTreeCreator() {}
/// Get the number of bodies in the system
/// @param num_bodies write number of bodies here
/// @return 0 on success, -1 on error
virtual int getNumBodies(int* num_bodies) const = 0;
/// Interface for accessing link mass properties.
/// For detailed description of data, @sa MultiBodyTree::addBody
/// \copydoc MultiBodyTree::addBody
virtual 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 = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const { return 0x0; }
};
/// Create a multibody object.
/// @param creator an object implementing the MultiBodyTreeCreator interface
/// that returns data defining the system
/// @return A pointer to an allocated multibodytree instance, or
/// 0x0 if an error occured.
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
} // namespace btInverseDynamics
// does urdf have gravity direction ??
#endif // MULTI_BODY_TREE_CREATOR_HPP_
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