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#ifndef DART_DYNAMICS_CHAIN_HPP_
#define DART_DYNAMICS_CHAIN_HPP_

#include "dart/dynamics/Linkage.hpp"

namespace dart {
namespace dynamics {

/// Chain is a specialized type of Linkage that represents a single unbranching
/// and fully connected sequence of BodyNodes. A chain will start from a
/// specified BodyNode and include every BodyNode on the way to a target
/// BodyNode, except it will stop if it encounters a branching (BodyNode with
/// multiple child BodyNodes) or a FreeJoint.
class Chain : public Linkage
{
public:
  struct Criteria
  {
    /// Constructor for Chain::Criteria
    Criteria(
        BodyNode* start,
        BodyNode* target,
        bool includeUpstreamParentJoint = false);

    /// Return a vector of BodyNodes that form a chain
    std::vector<BodyNode*> satisfy() const;

    /// mStart will be the first BodyNode in the chain
    WeakBodyNodePtr mStart;

    /// mTarget will be the final BodyNode in the chain, unless there is a
    /// branching or a FreeJoint along the way
    WeakBodyNodePtr mTarget;

    /// Set this to true if the parent joint of whichever is upstream of the
    /// other should be included.
    bool mIncludeUpstreamParentJoint;

    /// Convert this Criteria into Linkage::Criteria
    Linkage::Criteria convert() const;

    /// Operator for implicit conversion to a Linkage::Criteria
    operator Linkage::Criteria() const;

    /// Converts Linkage::Criteria to Chain::Criteria
    static Criteria convert(const Linkage::Criteria& criteria);
  };

  /// This enum is used to specify to the create() function that the parent
  /// joint of whichever is upstream of the other should be included in the
  /// Chain that gets generated.
  enum IncludeUpstreamParentJointTag
  {
    IncludeUpstreamParentJoint
  };

  /// Create a Chain given some Chain::Criteria
  static ChainPtr create(
      const Chain::Criteria& _criteria, const std::string& _name = "Chain");

  /// Create a Chain given a start and a target BodyNode. Note that whichever
  /// BodyNode is upstream of the other will be excluded from the Chain.
  static ChainPtr create(
      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");

  /// Create a Chain given a start and a target BodyNode. In this version, both
  /// BodyNodes will be included in the Chain that gets created.
  static ChainPtr create(
      BodyNode* _start,
      BodyNode* _target,
      IncludeUpstreamParentJointTag,
      const std::string& _name = "Chain");

  /// Creates and returns a clone of this Chain.
  ChainPtr cloneChain() const;

  /// Creates and returns a clone of this Chain.
  ChainPtr cloneChain(const std::string& cloneName) const;

  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;

  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const override;

  /// Returns false if this Chain has been broken, or some new Branching has
  /// been added.
  bool isStillChain() const;

protected:
  /// Constructor for the Chain class
  Chain(const Chain::Criteria& _criteria, const std::string& _name = "Chain");

  /// Alternative constructor for the Chain class
  Chain(
      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");

  /// Alternative constructor for the Chain class
  Chain(
      BodyNode* _start,
      BodyNode* _target,
      IncludeUpstreamParentJointTag,
      const std::string& _name = "Chain");
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_CHAIN_HPP_
