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#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics
{
MultiBodyNameMap::MultiBodyNameMap() {}
int MultiBodyNameMap::addBody(const int index, const std::string& name)
{
if (m_index_to_body_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_body_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
m_index_to_body_name[index] = name;
m_body_name_to_index[name] = index;
return 0;
}
int MultiBodyNameMap::addJoint(const int index, const std::string& name)
{
if (m_index_to_joint_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_joint_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
m_index_to_joint_name[index] = name;
m_joint_name_to_index[name] = index;
return 0;
}
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
if (it == m_index_to_body_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
}
int MultiBodyNameMap::getJointName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
if (it == m_index_to_joint_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
}
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
if (it == m_body_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
if (it == m_joint_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
} // namespace btInverseDynamics
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