Chain.h

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#ifndef PMPL_CHAIN_H_
#define PMPL_CHAIN_H_
 
#include <deque>
#include <iostream>
#include <utility>
#include <vector>
 
class Connection;
class Body;
class MultiBody;
 
 
class Chain final {
 
  public:
 
 
    typedef std::deque<const Connection*> JointList;
    typedef JointList::const_iterator iterator;
 
 
    static std::vector<Chain> Decompose(const MultiBody* const _mb);
 
    std::pair<Chain, Chain> Bisect() const noexcept;
 
 
    Chain& Reverse() noexcept;
 
    Chain& Append(const Chain& _other) noexcept;
 
 
    iterator begin() const noexcept;
    iterator end() const noexcept;
 
 
    const Body* GetFrontBody() const noexcept;
 
    const Body* GetBackBody() const noexcept;
 
    const Connection* GetFirstJoint() const noexcept;
 
    const Connection* GetLastJoint() const noexcept;
 
    bool IsForward() const noexcept;
 
    size_t GetNumJoints() const noexcept;
 
    size_t Size() const noexcept;
 
    bool IsSingleLink() const noexcept;
 
 
  private:
 
 
    Chain(const MultiBody* const _mb, JointList&& _joints,
        const Body* const _front, const Body* const _back, const bool _forward);
 
 
    const MultiBody* const m_multibody; 
 
    JointList m_joints;                 
    const Body* m_frontBody{nullptr};   
    const Body* m_backBody{nullptr};    
    bool m_forward{true};               
 
 
};
 
 
std::ostream& operator<<(std::ostream&, const Chain&);
 
#endif