geometry-object-filter.hpp

//
// Copyright (c) 2022 INRIA
//

#ifndef __pinocchio_multibody_geometry_object_filter_hpp__
#define __pinocchio_multibody_geometry_object_filter_hpp__

#include "pinocchio/multibody/instance-filter.hpp"

namespace pinocchio
{

 struct GeometryObjectFilterBase : InstanceFilterBase<GeometryObject>
 {

 }; // struct GeometryObjectFilterBase

 struct GeometryObjectFilterNothing final : GeometryObjectFilterBase
 {
 bool operator()(const GeometryObject &) const
 {
 return true;
 }

 }; // struct GeometryObjectFilterNothing

 struct GeometryObjectFilterSelectByJoint final : GeometryObjectFilterBase
 {
 GeometryObjectFilterSelectByJoint(const size_t joint_id)
 : joint_id(joint_id)
 {
 }

 bool operator()(const GeometryObject & geometry_object) const
 {
 return geometry_object.parentJoint == joint_id;
 }

 const size_t joint_id;

 }; // struct GeometryObjectFilterSelectByJoint

} // namespace pinocchio

#endif // #ifndef __pinocchio_multibody_geometry_object_filter_hpp__