7 #ifndef CNOID_BODY_CUSTOMIZER_INTERFACE_H_INCLUDED 8 #define CNOID_BODY_CUSTOMIZER_INTERFACE_H_INCLUDED 11 #include <cnoid/EigenTypes> 12 #include <cnoid/Config> 21 typedef const char* (*BodyGetLinkNameFunc) (BodyHandle bodyHandle,
int linkIndex);
22 typedef double* (*BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle,
int linkIndex);
24 static const int BODY_INTERFACE_VERSION = 1;
37 typedef const char** (*BodyCustomizerGetTargetModelNamesFunc)();
51 static const int BODY_CUSTOMIZER_INTERFACE_VERSION = 1;
77 #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) 78 #define CNOID_BODY_CUSTOMIZER_EXPORT extern "C" __declspec(dllexport) 82 #define CNOID_BODY_CUSTOMIZER_EXPORT extern "C" BodyCustomizerCreateFunc create
Definition: BodyCustomizerInterface.h:58
BodyCustomizerInitializeAnalyticIkFunc initializeAnalyticIk
Definition: BodyCustomizerInterface.h:60
BodyGetLinkDoubleValuePtrFunc getJointValuePtr
Definition: BodyCustomizerInterface.h:32
bool(* BodyCustomizerCalcAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)
Definition: BodyCustomizerInterface.h:46
CNOID_EXPORT int loadBodyCustomizers(const std::string pathString, BodyInterface *bodyInterface)
Definition: BodyCustomizerInterface.cpp:129
CNOID_EXPORT BodyCustomizerInterface * findBodyCustomizer(std::string modelName)
Definition: BodyCustomizerInterface.cpp:222
const char **(* BodyCustomizerGetTargetModelNamesFunc)()
Definition: BodyCustomizerInterface.h:37
BodyCustomizerCalcAnalyticIkFunc calcAnalyticIk
Definition: BodyCustomizerInterface.h:61
void * BodyCustomizerHandle
Definition: Body.h:22
int version
Definition: BodyCustomizerInterface.h:55
int version
Definition: BodyCustomizerInterface.h:28
int(* BodyGetLinkIndexFromNameFunc)(BodyHandle bodyHandle, const char *linkName)
Definition: BodyCustomizerInterface.h:20
void(* BodyCustomizerSetVirtualJointForcesFunc)(BodyCustomizerHandle customizerHandle)
Definition: BodyCustomizerInterface.h:48
int(* BodyCustomizerInitializeAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
Definition: BodyCustomizerInterface.h:41
Definition: BodyCustomizerInterface.h:53
BodyGetLinkIndexFromNameFunc getLinkIndexFromName
Definition: BodyCustomizerInterface.h:30
BodyCustomizerHandle(* BodyCustomizerCreateFunc)(BodyHandle bodyHandle, const char *modelName)
Definition: BodyCustomizerInterface.h:38
BodyCustomizerSetVirtualJointForcesFunc setVirtualJointForces
Definition: BodyCustomizerInterface.h:62
BodyGetLinkDoubleValuePtrFunc getJointForcePtr
Definition: BodyCustomizerInterface.h:34
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
void * BodyHandle
Definition: BodyCustomizerInterface.h:17
Definition: BodyCustomizerInterface.h:26
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
void(* BodyCustomizerDestroyFunc)(BodyCustomizerHandle customizerHandle)
Definition: BodyCustomizerInterface.h:40
double *(* BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle, int linkIndex)
Definition: BodyCustomizerInterface.h:22
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
BodyGetLinkNameFunc getLinkName
Definition: BodyCustomizerInterface.h:31
BodyGetLinkDoubleValuePtrFunc getJointVelocityPtr
Definition: BodyCustomizerInterface.h:33
const char *(* BodyGetLinkNameFunc)(BodyHandle bodyHandle, int linkIndex)
Definition: BodyCustomizerInterface.h:21
BodyCustomizerGetTargetModelNamesFunc getTargetModelNames
Definition: BodyCustomizerInterface.h:57
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57
BodyCustomizerDestroyFunc destroy
Definition: BodyCustomizerInterface.h:59