LinkPath.h

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#ifndef CNOID_BODY_LINK_PATH_H
#define CNOID_BODY_LINK_PATH_H
 
#include "LinkTraverse.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT LinkPath : public LinkTraverse
{
public:
    LinkPath();
    LinkPath(Link* base, Link* end);
    LinkPath(Link* end);
 
    bool setPath(Link* base, Link* end);
    void setPath(Link* end);
 
    Link* baseLink() const { return links_.front(); }
    Link* endLink() const { return links_.back(); }
 
#ifdef CNOID_BACKWARD_COMPATIBILITY
    bool find(Link* base, Link* end) { return setPath(base, end); }
    void find(Link* end) { return setPath(end); }
#endif
 
private:
    virtual void find(Link* root, bool doUpward, bool doDownward) override;
 
    bool findPathSub(Link* link, Link* prev, Link* end, bool isForwardDirection);
    void findPathFromRootSub(Link* link);
};
 
}
 
#endif