6 #ifndef CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
7 #define CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
9 #include <cnoid/BodyMotion>
10 #include <cnoid/MultiSeqItem>
11 #include <cnoid/MultiValueSeqItem>
12 #include <cnoid/MultiAffine3SeqItem>
13 #include <cnoid/Vector3SeqItem>
28 return jointPosSeqItem_.get();
32 return bodyMotion_->jointPosSeq();
36 return linkPosSeqItem_.get();
40 return bodyMotion_->linkPosSeq();
44 Vector3SeqItem* relativeZmpSeqItem();
47 return relativeZmpSeqItem()->seq();
50 virtual void notifyUpdate();
52 void updateChildItemLineup();
58 virtual ItemPtr doDuplicate()
const;
59 virtual bool store(Archive& archive);
60 virtual bool restore(
const Archive& archive);
66 MultiValueSeqItemPtr jointPosSeqItem_;
67 MultiAffine3SeqItemPtr linkPosSeqItem_;
68 Vector3SeqItemPtr relativeZmpSeqItem_;
71 void onSubItemUpdated(Item* childItem);