/usr/include/choreonoid-1.1/cnoid/src/Body/PenetrationBlocker.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | /**
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODY_PENETRATION_BLOCKER_H_INCLUDED
#define CNOID_BODY_PENETRATION_BLOCKER_H_INCLUDED
#include "Link.h"
#include <boost/shared_ptr.hpp>
#include "exportdecl.h"
namespace cnoid {
class PenetrationBlockerImpl;
class CNOID_EXPORT PenetrationBlocker
{
public:
PenetrationBlocker(Link* targetLink);
void addOpponentLink(Link* link);
void setDepth(double depth);
void start();
bool adjust(Vector3& io_p, const Matrix3& R, const Vector3& pushDirection);
private:
PenetrationBlockerImpl* impl;
};
typedef boost::shared_ptr<PenetrationBlocker> PenetrationBlockerPtr;
}
#endif
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