6 #ifndef CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
7 #define CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
9 #include <Eigen/StdVector>
10 #include <cnoid/EigenTypes>
11 #include <cnoid/VrmlNodes>
12 #include <boost/shared_ptr.hpp>
13 #include <boost/signals.hpp>
26 typedef std::vector<Affine3, Eigen::aligned_allocator<Affine3> >
Affine3Array;
38 class ModelNodeSetImpl;
47 bool loadModelFile(
const std::string& filename);
59 boost::signal<void(const std::string& message)>
sigMessage;
63 Exception(
const std::string& description) : description(description) { }
64 const char*
what()
const {
return description.c_str(); }
66 std::string description;
70 ModelNodeSetImpl* impl;