/usr/include/choreonoid-1.1/cnoid/src/BodyPlugin/BodyMotionItem.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 | /**
@file
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
#define CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
#include <cnoid/BodyMotion>
#include <cnoid/MultiSeqItem>
#include <cnoid/MultiValueSeqItem>
#include <cnoid/MultiAffine3SeqItem>
#include <cnoid/Vector3SeqItem>
#include "exportdecl.h"
namespace cnoid {
class CNOID_EXPORT BodyMotionItem : public MultiSeqItemBase
{
public:
BodyMotionItem();
virtual MultiSeqBasePtr seqBase() { return bodyMotion_; }
inline const BodyMotionPtr& motion() { return bodyMotion_; }
inline MultiValueSeqItem* jointPosSeqItem() {
return jointPosSeqItem_.get();
}
inline const MultiValueSeqPtr& jointPosSeq() {
return bodyMotion_->jointPosSeq();
}
inline MultiAffine3SeqItem* linkPosSeqItem() {
return linkPosSeqItem_.get();
}
inline const MultiAffine3SeqPtr& linkPosSeq() {
return bodyMotion_->linkPosSeq();
}
bool hasRelativeZmpSeqItem() { return bodyMotion_->hasRelativeZmpSeq(); }
Vector3SeqItem* relativeZmpSeqItem();
inline Vector3SeqPtr relativeZmpSeq() {
return relativeZmpSeqItem()->seq();
}
virtual void notifyUpdate();
void updateChildItemLineup();
protected:
BodyMotionItem(const BodyMotionItem& org);
virtual ItemPtr doDuplicate() const;
virtual bool store(Archive& archive);
virtual bool restore(const Archive& archive);
private:
BodyMotionPtr bodyMotion_;
MultiValueSeqItemPtr jointPosSeqItem_;
MultiAffine3SeqItemPtr linkPosSeqItem_;
Vector3SeqItemPtr relativeZmpSeqItem_;
void initialize();
void onSubItemUpdated(Item* childItem);
};
typedef boost::intrusive_ptr<BodyMotionItem> BodyMotionItemPtr;
void initializeBodyMotionItem(ExtensionManager& ext);
}
#endif
|