6 #ifndef CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H_INCLUDED
7 #define CNOID_BODY_BODY_MOTION_POSE_PROVIDER_H_INCLUDED
27 virtual Body* body()
const;
28 virtual double beginningTime()
const;
29 virtual double endingTime()
const;
30 virtual bool seek(
double time);
31 virtual bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation);
32 virtual int baseLinkIndex()
const;
33 virtual bool getBaseLinkPosition(
Vector3& out_p,
Matrix3& out_R)
const;
34 virtual void getJointPositions(std::vector< boost::optional<double> >& out_q)
const;
35 virtual boost::optional<Vector3> zmp()
const;
41 std::vector<Link*> footLinks;
42 std::vector<JointPathPtr> ikPaths;
44 std::vector<double> qTranslated;
49 bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation,
bool applyWaistTranslation);