Choreonoid  1.1
KinematicFaultChecker.h
[詳解]
1 
5 #ifndef CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED
6 #define CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED
7 
8 #include <ostream>
9 #include "exportdecl.h"
10 
11 namespace cnoid {
12 
13  class ExtensionManager;
14 
15  class BodyItem;
16  class BodyMotionItem;
17  class KinematicFaultCheckerImpl;
18 
20  {
21  public:
22  static void initialize(ExtensionManager& ext);
23  static KinematicFaultChecker* instance();
24 
26  virtual ~KinematicFaultChecker();
27 
28  int checkFaults(
29  BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os,
30  double beginningTime = 0.0, double endingTime = std::numeric_limits<double>::max());
31 
32  private:
33  KinematicFaultCheckerImpl* impl;
34  };
35 }
36 
37 #endif
38 
Definition: BodyMotionItem.h:18
Definition: EasyScanner.h:16
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
Definition: BodyItem.h:41
bool initialize()
Definition: KinematicFaultChecker.h:19