6 #ifndef CNOID_BODY_POSE_PROVIDER_H_INCLUDED 7 #define CNOID_BODY_POSE_PROVIDER_H_INCLUDED 11 #include <boost/optional.hpp> 12 #include <cnoid/EigenTypes> 23 virtual bool seek(
double time) = 0;
24 virtual bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation) = 0;
27 virtual void getJointPositions(std::vector< boost::optional<double> >& out_q)
const = 0;
28 virtual boost::optional<Vector3>
ZMP()
const = 0;
30 #ifdef CNOID_BACKWARD_COMPATIBILITY 34 out_p = T.translation();
virtual bool seek(double time)=0
virtual int baseLinkIndex() const =0
virtual double endingTime() const =0
virtual double beginningTime() const =0
Definition: PoseProvider.h:16
virtual ~PoseProvider()
Definition: PoseProvider.h:19
virtual boost::optional< Vector3 > ZMP() const =0
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
virtual void getJointPositions(std::vector< boost::optional< double > > &out_q) const =0
virtual Body * body() const =0
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57
virtual bool getBaseLinkPosition(Position &out_T) const =0