6 #ifndef CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H 7 #define CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H 13 #include <cnoid/MultiAffine3Seq> 33 virtual Body* body()
const;
34 virtual double beginningTime()
const;
35 virtual double endingTime()
const;
36 virtual bool seek(
double time);
37 virtual bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation);
38 virtual int baseLinkIndex()
const;
39 virtual bool getBaseLinkPosition(
Position& out_T)
const;
40 virtual void getJointPositions(std::vector< boost::optional<double> >& out_q)
const;
41 virtual boost::optional<Vector3> ZMP()
const;
48 std::vector<Link*> footLinks;
49 std::vector<JointPathPtr> ikPaths;
51 std::vector<double> qTranslated;
56 bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation,
bool applyWaistTranslation);
boost::shared_ptr< ZMPSeq > ZMPSeqPtr
Definition: ZMPSeq.h:39
boost::shared_ptr< JointPath > JointPathPtr
Definition: BodyMotionPoseProvider.h:20
boost::shared_ptr< BodyMotion > BodyMotionPtr
Definition: BodyMotion.h:147
Definition: BodyMotionPoseProvider.h:23
Definition: PoseProvider.h:16
Definition: JointPath.h:21
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
MultiAffine3Seq::Ptr MultiAffine3SeqPtr
Definition: MultiAffine3Seq.h:42
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57