/usr/include/choreonoid-1.1/cnoid/src/BodyPlugin/KinematicsBar.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 | /**
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODYPLUGIN_KINEMATICS_BAR_H_INCLUDED
#define CNOID_BODYPLUGIN_KINEMATICS_BAR_H_INCLUDED
#include <cnoid/ToolBar>
#include <boost/signals.hpp>
#include "exportdecl.h"
namespace cnoid {
class KinematicsBarSetupDialog;
class CNOID_EXPORT KinematicsBar : public ToolBar
{
public:
static KinematicsBar* instance();
virtual ~KinematicsBar();
enum Mode { AUTO_MODE, FK_MODE, IK_MODE };
int mode() const;
bool isAttitudeMode() const { return attitudeToggle->isChecked(); }
bool isFootSnapMode() const { return footSnapToggle->isChecked(); }
void getSnapThresholds(double& distance, double& angle) const;
bool isJointPositionLimitMode() const { return jointPositionLimitToggle->isChecked(); }
bool isPenetrationBlockMode() const { return penetrationBlockToggle->isChecked(); }
double penetrationBlockDepth() const;
bool isCollisionLinkHighlihtMode() const { return collisionLinkHighlightToggle->isChecked(); }
int collisionDetectionPriority() const { return collisionDetectionPriority_; }
SignalProxy< boost::signal<void()> > sigCollisionVisualizationChanged() {
return sigCollisionVisualizationChanged_;
}
protected:
virtual bool storeState(Archive& archive);
virtual bool restoreState(const Archive& archive);
private:
ToolButton* autoModeRadio;
ToolButton* fkModeRadio;
ToolButton* ikModeRadio;
ToolButton* attitudeToggle;
ToolButton* footSnapToggle;
ToolButton* jointPositionLimitToggle;
ToolButton* penetrationBlockToggle;
ToolButton* collisionLinkHighlightToggle;
int collisionDetectionPriority_;
boost::signal<void()> sigCollisionVisualizationChanged_;
KinematicsBarSetupDialog* setup;
KinematicsBar();
void onCollisionVisualizationChanged();
void onLazyCollisionDetectionModeToggled();
};
}
#endif
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