/usr/include/choreonoid-1.1/cnoid/src/Body/PoseProvider.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 32 | /**
@file
@author Shin'ichiro NAKAOKA
*/
#ifndef CNOID_BODY_POSE_PROVIDER_H_INCLUDED
#define CNOID_BODY_POSE_PROVIDER_H_INCLUDED
#include "Body.h"
#include <vector>
#include <boost/optional.hpp>
#include <cnoid/EigenTypes>
namespace cnoid {
class PoseProvider
{
public:
virtual ~PoseProvider() { };
virtual Body* body() const = 0;
virtual double beginningTime() const = 0;
virtual double endingTime() const = 0;
virtual bool seek(double time) = 0;
virtual bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation) = 0;
virtual int baseLinkIndex() const = 0;
virtual bool getBaseLinkPosition(Vector3& out_p, Matrix3& out_R) const = 0;
virtual void getJointPositions(std::vector< boost::optional<double> >& out_q) const = 0;
virtual boost::optional<Vector3> zmp() const = 0;
};
}
#endif
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