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;
BodyCustomizerCreateFunc create
Definition: BodyCustomizerInterface.h:58
const char *(* BodyGetLinkNameFunc)(BodyHandle bodyHandle, int linkIndex)
Definition: BodyCustomizerInterface.h:21
BodyCustomizerInitializeAnalyticIkFunc initializeAnalyticIk
Definition: BodyCustomizerInterface.h:60
bool(* BodyCustomizerCalcAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)
Definition: BodyCustomizerInterface.h:46
BodyGetLinkDoubleValuePtrFunc getJointValuePtr
Definition: BodyCustomizerInterface.h:32
CNOID_EXPORT int loadBodyCustomizers(const std::string pathString, BodyInterface *bodyInterface)
Definition: BodyCustomizerInterface.cpp:138
int(* BodyCustomizerInitializeAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
Definition: BodyCustomizerInterface.h:41
CNOID_EXPORT BodyCustomizerInterface * findBodyCustomizer(std::string modelName)
Definition: BodyCustomizerInterface.cpp:232
BodyCustomizerCalcAnalyticIkFunc calcAnalyticIk
Definition: BodyCustomizerInterface.h:61
void * BodyCustomizerHandle
Definition: Body.h:43
int version
Definition: BodyCustomizerInterface.h:55
int version
Definition: BodyCustomizerInterface.h:28
BodyCustomizerHandle(* BodyCustomizerCreateFunc)(BodyHandle bodyHandle, const char *modelName)
Definition: BodyCustomizerInterface.h:38
void(* BodyCustomizerDestroyFunc)(BodyCustomizerHandle customizerHandle)
Definition: BodyCustomizerInterface.h:40
Definition: BodyCustomizerInterface.h:53
BodyGetLinkIndexFromNameFunc getLinkIndexFromName
Definition: BodyCustomizerInterface.h:30
BodyCustomizerSetVirtualJointForcesFunc setVirtualJointForces
Definition: BodyCustomizerInterface.h:62
const char **(* BodyCustomizerGetTargetModelNamesFunc)()
Definition: BodyCustomizerInterface.h:37
double *(* BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle, int linkIndex)
Definition: BodyCustomizerInterface.h:22
BodyGetLinkDoubleValuePtrFunc getJointForcePtr
Definition: BodyCustomizerInterface.h:34
Definition: EasyScanner.h:16
int(* BodyGetLinkIndexFromNameFunc)(BodyHandle bodyHandle, const char *linkName)
Definition: BodyCustomizerInterface.h:20
void * BodyHandle
Definition: Body.h:41
Definition: BodyCustomizerInterface.h:26
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
BodyGetLinkNameFunc getLinkName
Definition: BodyCustomizerInterface.h:31
BodyGetLinkDoubleValuePtrFunc getJointVelocityPtr
Definition: BodyCustomizerInterface.h:33
BodyCustomizerGetTargetModelNamesFunc getTargetModelNames
Definition: BodyCustomizerInterface.h:57
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25
BodyCustomizerDestroyFunc destroy
Definition: BodyCustomizerInterface.h:59
void(* BodyCustomizerSetVirtualJointForcesFunc)(BodyCustomizerHandle customizerHandle)
Definition: BodyCustomizerInterface.h:48