5 #ifndef CNOID_BODYPLUGIN_KINEMATICS_BAR_H_INCLUDED
6 #define CNOID_BODYPLUGIN_KINEMATICS_BAR_H_INCLUDED
8 #include <cnoid/ToolBar>
9 #include <boost/signals.hpp>
14 class KinematicsBarSetupDialog;
23 enum Mode { AUTO_MODE, FK_MODE, IK_MODE };
29 void getSnapThresholds(
double& distance,
double& angle)
const;
32 double penetrationBlockDepth()
const;
37 return sigCollisionVisualizationChanged_;
41 virtual bool storeState(Archive& archive);
42 virtual bool restoreState(
const Archive& archive);
45 ToolButton* autoModeRadio;
46 ToolButton* fkModeRadio;
47 ToolButton* ikModeRadio;
49 ToolButton* attitudeToggle;
50 ToolButton* footSnapToggle;
51 ToolButton* jointPositionLimitToggle;
52 ToolButton* penetrationBlockToggle;
53 ToolButton* collisionLinkHighlightToggle;
55 int collisionDetectionPriority_;
57 boost::signal<void()> sigCollisionVisualizationChanged_;
59 KinematicsBarSetupDialog* setup;
63 void onCollisionVisualizationChanged();
64 void onLazyCollisionDetectionModeToggled();