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