Choreonoid  1.1
BodyMotionUtil.h
説明を見る。
1 
5 #ifndef CNOID_BODY_BODY_MOTION_UTIL_H_INCLUDED
6 #define CNOID_BODY_BODY_MOTION_UTIL_H_INCLUDED
7 
8 #include "Body.h"
9 #include <cnoid/NullOut>
10 #include <iosfwd>
11 #include <string>
12 #include "exportdecl.h"
13 
14 namespace cnoid {
15 
16  class BodyMotion;
17  class Vector3Seq;
18  class MultiAffine3Seq;
19  class MultiValueSeq;
20  class PoseProvider;
21 
23  BodyMotion& motion, const std::string& filename, std::ostream& os);
24 
26  BodyMotion& motion, BodyPtr body, const std::string& filename, std::ostream& os);
27 
29  MultiAffine3Seq& linkPosSeq, Sensor* gsens, int frameBegin, int numFrames, Vector3Seq& out_accSeq);
30 
32  MultiValueSeq& seq, BodyPtr body, std::ostream& os = nullout());
33 
34  CNOID_EXPORT bool applyVelocityLimitFilter2(MultiValueSeq& seq, int part, double absLimit);
35 
37 
39  MultiValueSeq& seq, BodyPtr body, double ks, std::ostream& os = nullout());
40 
42  MultiValueSeq& seq, double sigma, int range, std::ostream& os = nullout());
43 
45  MultiValueSeq& seq, BodyPtr body, double limitGrad, double edgeGradRatio, double margin,
46  std::ostream& os = nullout());
47 }
48 
49 #endif