01746       // recurse through children bodies
    01747       std::vector<gazebo::Body*> bodies;
    01748       if (update_children) [getAllChildrenBodies](classGazeboROSNode.html#af403122a7a4f56cc1711e2644048caa8)(bodies, body1->GetModel(), body1);
    01749       for (std::vector<gazebo::Body*>::iterator bit = bodies.begin(); bit != bodies.end(); bit++)
    01750         [slideBodyAndChildren](classGazeboROSNode.html#a5489b398b9b99702d5d682ca523e2062)((*bit), anchor, axis, dposition,false);
    01751 
    01752     }
    01753 
    [01754](classGazeboROSNode.html#af403122a7a4f56cc1711e2644048caa8)     void [getAllChildrenBodies](classGazeboROSNode.html#af403122a7a4f56cc1711e2644048caa8)(std::vector<gazebo::Body*> &bodies, gazebo::Model* model, gazebo::Body* body)
    01755     {
    01756       // strategy, for each child, recursively look for children
    01757       //           for each child, also look for parents to catch multiple roots
    01758       if (model)
    01759       {
    01760         int joint_count = model->GetJointCount();
    01761         for (int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) = 0; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) < joint_count ; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01762         {
    01763           gazebo::Joint* joint = model->GetJoint([i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392));
    01764           // recurse through children connected by joints
    01765           gazebo::Body* body0 = [getParentBody](classGazeboROSNode.html#a6cdfd1e109477950bf6e002efaf1f96d)(joint);
    01766           gazebo::Body* body1 = [getChildBody](classGazeboROSNode.html#a9d9585eb5e1a40f4d26683e5ba110267)(joint);
    01767           if (body0 && body1
    01768               && body0->GetName() != body1->GetName()
    01769               && body0->GetName() == body->GetName()
    01770               && ![inBodies](classGazeboROSNode.html#ae92990dde0739ce2c0dba88b653ab4d2)(body1,bodies))
    01771           {
    01772             bodies.push_back(body1);
    01773             [getAllChildrenBodies](classGazeboROSNode.html#af403122a7a4f56cc1711e2644048caa8)(bodies, body1->GetModel(), body1);
    01774             [getAllParentBodies](classGazeboROSNode.html#a267d19e1c7024d3711a3cced5fbc4ce7)(bodies, body1->GetModel(), body1, body);
    01775           }
    01776         }
    01777       }
    01778     }
    [01779](classGazeboROSNode.html#a267d19e1c7024d3711a3cced5fbc4ce7)     void [getAllParentBodies](classGazeboROSNode.html#a267d19e1c7024d3711a3cced5fbc4ce7)(std::vector<gazebo::Body*> &bodies, gazebo::Model* model, gazebo::Body* body, gazebo::Body* orig_parent_body)
    01780     {
    01781       if (model)
    01782       {
    01783         int joint_count = model->GetJointCount();
    01784         for (int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) = 0; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392) < joint_count ; [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01785         {