Choreonoid  1.1
KinematicsSimulatorItem.h
説明を見る。
1 
6 #ifndef CNOID_BODYPLUGIN_KINEMATICS_SIMULATOR_ITEM_H_INCLUDED
7 #define CNOID_BODYPLUGIN_KINEMATICS_SIMULATOR_ITEM_H_INCLUDED
8 
9 #include "SimulatorItem.h"
10 
11 namespace cnoid {
12 
13  class KSIImpl;
14 
16  {
17  public:
20  virtual ~KinematicsSimulatorItem();
21 
22  protected:
23 
24  virtual QWidget* settingPanel();
25  virtual bool doStartSimulation();
26  virtual bool doStepSimulation();
27  virtual double doFlushResults();
28  virtual double doStopSimulation();
29 
30  virtual ItemPtr doDuplicate() const;
31  virtual bool store(Archive& archive);
32  virtual bool restore(const Archive& archive);
33 
34  private:
35  KSIImpl* impl;
36  friend class KSIImpl;
37 
38  };
39 
40  typedef boost::intrusive_ptr<KinematicsSimulatorItem> KinematicsSimulatorItemPtr;
41 
42  void initializeKinematicsSimulatorItem(ExtensionManager& ext);
43 }
44 
45 #endif