Choreonoid  1.5
OpenHRPControllerBase.h
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1 
5 #ifndef CNOID_OPENHRPP_CONTROLLER_BASE_H
6 #define CNOID_OPENHRPP_CONTROLLER_BASE_H
7 
8 #ifdef OPENHRP_3_0
9 #include <cnoid/corba/OpenHRP/3.0/Controller.hh>
10 #else
11 #ifndef OPENHRP_3_1
12 #define OPENHRP_3_1
13 #endif
14 #include <cnoid/corba/OpenHRP/3.1/Controller.hh>
15 #endif
16 #include <string>
17 
18 namespace cnoid {
19 
21  virtual public POA_OpenHRP::Controller,
22  virtual public PortableServer::RefCountServantBase
23 {
24 public:
25  OpenHRPControllerBase(const std::string& charaName);
27 
28  virtual void setDynamicsSimulator(OpenHRP::DynamicsSimulator_ptr dynamicsSimulator);
29  virtual void setViewSimulator(OpenHRP::ViewSimulator_ptr viewSimulator);
30  virtual void setTimeStep(::CORBA::Double timeStep);
31  virtual void start();
32  virtual void input();
33  virtual void control();
34  virtual void output();
35  virtual void stop();
36  virtual void destroy();
37 
38 #ifdef OPENHRP_3_1
39  virtual void setModelName(const char* localModelName);
40  virtual void initialize();
41  virtual void shutdown();
42 #endif
43 
44 protected:
45  OpenHRP::DynamicsSimulator_var dynamicsSimulator;
46  OpenHRP::ViewSimulator_var viewSimulator;
47  std::string characterName;
48  double timeStep;
49 };
50 
51 
53 #ifdef OPENHRP_3_0
54  : virtual public POA_OpenHRP::ControllerFactory
55 #endif
56 {
57 public:
58  static bool run(int argc, char* argv[]);
59 
62  OpenHRP::Controller_ptr create(const char* charaName);
63  void shutdown();
64 };
65 
66 }
67 
68 #endif
virtual void output()
Definition: OpenHRPControllerBase.cpp:67
Definition: OpenHRPControllerBase.h:20
virtual void setViewSimulator(OpenHRP::ViewSimulator_ptr viewSimulator)
Definition: OpenHRPControllerBase.cpp:37
virtual void input()
Definition: OpenHRPControllerBase.cpp:55
virtual void setDynamicsSimulator(OpenHRP::DynamicsSimulator_ptr dynamicsSimulator)
Definition: OpenHRPControllerBase.cpp:31
OpenHRPControllerBase(const std::string &charaName)
Definition: OpenHRPControllerBase.cpp:18
virtual void setModelName(const char *localModelName)
Definition: OpenHRPControllerBase.cpp:87
virtual void initialize()
Definition: OpenHRPControllerBase.cpp:92
virtual void setTimeStep(::CORBA::Double timeStep)
Definition: OpenHRPControllerBase.cpp:43
std::string characterName
Definition: OpenHRPControllerBase.h:47
virtual void control()
Definition: OpenHRPControllerBase.cpp:61
virtual void start()
Definition: OpenHRPControllerBase.cpp:49
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: OpenHRPControllerBase.h:52
virtual void stop()
Definition: OpenHRPControllerBase.cpp:72
~OpenHRPControllerBase()
Definition: OpenHRPControllerBase.cpp:25
virtual void shutdown()
Definition: OpenHRPControllerBase.cpp:97
OpenHRP::ViewSimulator_var viewSimulator
Definition: OpenHRPControllerBase.h:46
OpenHRP::DynamicsSimulator_var dynamicsSimulator
Definition: OpenHRPControllerBase.h:45
virtual void destroy()
Definition: OpenHRPControllerBase.cpp:78
double timeStep
Definition: OpenHRPControllerBase.h:48