Choreonoid  1.5
CollisionSeq.h
Go to the documentation of this file.
1 
6 #ifndef CNOID_BODY_COLLISION_SEQ_H
7 #define CNOID_BODY_COLLISION_SEQ_H
8 
9 #include <cnoid/CollisionLinkPair>
10 #include <cnoid/MultiSeq>
11 #include <cnoid/YAMLWriter>
12 #include <boost/make_shared.hpp>
13 #include "exportdecl.h"
14 
15 namespace cnoid {
16 
17 class YAMLWriter;
19 
20 
21 typedef std::vector<CollisionLinkPairPtr> CollisionLinkPairList;
22 typedef boost::shared_ptr<CollisionLinkPairList> CollisionLinkPairListPtr;
23 
24 class CNOID_EXPORT CollisionSeq : public MultiSeq<CollisionLinkPairListPtr>
25 {
27 
28 public:
30  CollisionSeq(CollisionSeqItem* collisionSeqItem);
31 
32  virtual bool doWriteSeq(YAMLWriter& writer);
33  virtual bool doReadSeq(const Mapping& archive);
34 
35  bool loadStandardYAMLformat(const std::string& filename);
36  bool saveAsStandardYAMLformat(const std::string& filename);
37  void writeCollsionData(YAMLWriter& writer, const CollisionLinkPairListPtr ptr);
38  void readCollisionData(int nFrames, const Listing& values);
39 
40 };
41 
42 typedef boost::shared_ptr<CollisionSeq> CollisionSeqPtr;
43 }
44 
45 #endif
std::vector< CollisionLinkPairPtr > CollisionLinkPairList
Definition: CollisionSeq.h:18
boost::shared_ptr< CollisionSeq > CollisionSeqPtr
Definition: CollisionSeq.h:42
Definition: ValueTree.h:224
CollisionSeqItem * collisionSeqItem_
Definition: CollisionSeq.h:29
Definition: YAMLWriter.h:18
Definition: ValueTree.h:424
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: MultiSeq.h:19
Definition: CollisionSeqItem.h:17
Definition: CollisionSeq.h:24
boost::shared_ptr< CollisionLinkPairList > CollisionLinkPairListPtr
Definition: CollisionSeq.h:22
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37