Choreonoid  1.5
ChoreonoidExecutionContext.h
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1 
6 #ifndef CNOID_OPENRTM_PLUGIN_CHOREONOID_EXECUTION_CONTEXT_H_INCLUDED
7 #define CNOID_OPENRTM_PLUGIN_CHOREONOID_EXECUTION_CONTEXT_H_INCLUDED
8 
9 #include <rtm/RTC.h>
10 #include <coil/Task.h>
11 #include <rtm/Manager.h>
12 #if defined(OPENRTM_VERSION110)
13  #include <rtm/PeriodicExecutionContext.h>
14 #else
15  #include <rtm/OpenHRPExecutionContext.h>
16 #endif
17 
18 #ifdef WIN32
19 #pragma warning( disable : 4290 )
20 #endif
21 
22 namespace cnoid
23 {
29 #ifdef OPENRTM_VERSION110
30  class ChoreonoidExecutionContext : public virtual RTC::PeriodicExecutionContext
31 #else
32  class ChoreonoidExecutionContext : public RTC::OpenHRPExecutionContext
33 #endif
34 {
35 public:
37  virtual ~ChoreonoidExecutionContext(void);
38  virtual void tick(void) throw (CORBA::SystemException);
39  virtual int svc(void);
40  virtual RTC::ReturnCode_t deactivate_component(RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException);
41 };
42 };
43 
44 #endif
Definition: ChoreonoidExecutionContext.h:32
virtual ~ChoreonoidExecutionContext(void)
Definition: ChoreonoidExecutionContext.cpp:26
virtual void tick(void)
Definition: ChoreonoidExecutionContext.cpp:32
virtual int svc(void)
Definition: ChoreonoidExecutionContext.cpp:42
virtual RTC::ReturnCode_t deactivate_component(RTC::LightweightRTObject_ptr comp)
Definition: ChoreonoidExecutionContext.cpp:48
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
ChoreonoidExecutionContext()
Definition: ChoreonoidExecutionContext.cpp:18