3f03b41091
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.
grep -r error_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/error_message/bt_id_error_message/g"
grep -r warning_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
#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;
|
|
}
|
|
}
|