BodyCustomizerInterface.h File Reference

The definitions of the body customizer interface for increasing binary compatibility. More...

#include <string>
#include <cnoid/EigenTypes>
#include <cnoid/Config>
#include "exportdecl.h"

Go to the source code of this file.

Classes
struct	cnoid::BodyInterface
struct	cnoid::BodyCustomizerInterface

Namespaces
	cnoid

Macros
#define	CNOID_BODY_CUSTOMIZER_EXPORT   extern "C"

Typedefs
typedef void *	cnoid::BodyHandle
typedef int(*	cnoid::BodyGetLinkIndexFromNameFunc) (BodyHandle bodyHandle, const char *linkName)
typedef double *(*	cnoid::BodyGetLinkDoubleValuePtrFunc) (BodyHandle bodyHandle, int linkIndex)
typedef BodyCustomizerHandle(*	cnoid::BodyCustomizerCreateFunc) (BodyHandle bodyHandle, const char *modelName)
typedef void(*	cnoid::BodyCustomizerDestroyFunc) (BodyCustomizerHandle customizerHandle)
typedef int(*	cnoid::BodyCustomizerInitializeAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
typedef bool(*	cnoid::BodyCustomizerCalcAnalyticIkFunc) (BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix3 &R)
typedef void(*	cnoid::BodyCustomizerSetVirtualJointForcesFunc) (BodyCustomizerHandle customizerHandle)
typedef void(*	cnoid::BodyCustomizerSetVirtualJointForces2Func) (BodyCustomizerHandle customizerHandle, double timeStep)
typedef BodyCustomizerInterface *(*	cnoid::GetBodyCustomizerInterfaceFunc) (BodyInterface *bodyInterface)

Functions
CNOID_EXPORT int	cnoid::loadDefaultBodyCustomizers (std::ostream &os)
CNOID_EXPORT int	cnoid::loadBodyCustomizers (const std::string pathString, std::ostream &os)
CNOID_EXPORT BodyCustomizerInterface *	cnoid::findBodyCustomizer (std::string modelName)

Variables
const typedef char *(*	cnoid::BodyGetLinkNameFunc )(BodyHandle bodyHandle, int linkIndex)
const typedef char **(*	cnoid::BodyCustomizerGetTargetModelNamesFunc )()

Detailed Description

The definitions of the body customizer interface for increasing binary compatibility.

Author

Shin'ichiro Nakaoka

Macro Definition Documentation

CNOID_BODY_CUSTOMIZER_EXPORT

#define CNOID_BODY_CUSTOMIZER_EXPORT   extern "C"