Choreonoid  1.1
PoseProviderToBodyMotionConverter.h
説明を見る。
1 
5 #ifndef CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H_INCLUDED
6 #define CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H_INCLUDED
7 
8 #include "Body.h"
9 #include "exportdecl.h"
10 
11 namespace cnoid {
12 
13  class BodyMotion;
14  class PoseProvider;
15 
17  {
18  public:
20  void setTimeRange(double lower, double upper);
21  void setFullTimeRange();
22  void setAllLinkPositionOutput(bool on);
23  bool convert(BodyPtr body, PoseProvider* provider, BodyMotion& motion);
24 
25  private:
26  double lowerTime;
27  double upperTime;
28  bool allLinkPositionOutputMode;
29  };
30 }
31 
32 #endif