6 #ifndef CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
7 #define CNOID_BODYPLUGIN_BODY_MOTION_ITEM_H_INCLUDED
9 #include <cnoid/BodyMotion>
10 #include <cnoid/MultiSeqItem>
11 #include <cnoid/MultiValueSeqItem>
12 #include <cnoid/MultiAffine3SeqItem>
13 #include <cnoid/Vector3SeqItem>
28 return jointPosSeqItem_.get();
32 return bodyMotion_->jointPosSeq();
36 return linkPosSeqItem_.get();
40 return bodyMotion_->linkPosSeq();
44 Vector3SeqItem* relativeZmpSeqItem();
47 return relativeZmpSeqItem()->seq();
50 virtual void notifyUpdate();
52 void updateChildItemLineup();
58 virtual ItemPtr doDuplicate()
const;
59 virtual bool store(Archive& archive);
60 virtual bool restore(
const Archive& archive);
66 MultiValueSeqItemPtr jointPosSeqItem_;
67 MultiAffine3SeqItemPtr linkPosSeqItem_;
68 Vector3SeqItemPtr relativeZmpSeqItem_;
71 void onSubItemUpdated(Item* childItem);
MultiAffine3SeqItem * linkPosSeqItem()
Definition: BodyMotionItem.h:35
MultiValueSeq::Ptr MultiValueSeqPtr
Definition: MultiValueSeq.h:33
boost::shared_ptr< BodyMotion > BodyMotionPtr
Definition: BodyMotion.h:90
Vector3SeqPtr relativeZmpSeq()
Definition: BodyMotionItem.h:46
Definition: BodyMotionItem.h:18
boost::shared_ptr< Vector3Seq > Vector3SeqPtr
Definition: Vector3Seq.h:34
boost::intrusive_ptr< BodyMotionItem > BodyMotionItemPtr
Definition: BodyMotionItem.h:74
Definition: EasyScanner.h:16
bool hasRelativeZmpSeqItem()
Definition: BodyMotionItem.h:43
const MultiAffine3SeqPtr & linkPosSeq()
Definition: BodyMotionItem.h:39
const BodyMotionPtr & motion()
Definition: BodyMotionItem.h:25
MultiAffine3Seq::Ptr MultiAffine3SeqPtr
Definition: MultiAffine3Seq.h:40
const MultiValueSeqPtr & jointPosSeq()
Definition: BodyMotionItem.h:31
boost::shared_ptr< MultiSeqBase > MultiSeqBasePtr
Definition: SeqBase.h:108
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
MultiValueSeqItem * jointPosSeqItem()
Definition: BodyMotionItem.h:27
void initializeBodyMotionItem(ExtensionManager &ext)
Definition: BodyMotionItem.cpp:152
virtual MultiSeqBasePtr seqBase()
Definition: BodyMotionItem.h:23