BodyHandler.h

Go to the documentation of this file.

#ifndef CNOID_BODY_BODY_HANDLER_H
#define CNOID_BODY_BODY_HANDLER_H
 
#include <cnoid/Referenced>
#include <cnoid/Config>
#include <string>
#include <iosfwd>
#include <memory>
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
class BodyHandlerManager;
 
class CNOID_EXPORT BodyHandler : public Referenced
{
public:
    static bool checkVersion(const char* name, int version, int internalVersion, std::ostream& os);
    virtual bool initialize(Body* body, std::ostream& os) = 0;
    virtual BodyHandler* clone() = 0;
    const std::string& filename() const { return filename_; }
 
private:
    std::string filename_;
 
    friend class BodyHandlerManager;
};
 
typedef ref_ptr<BodyHandler> BodyHandlerPtr;
 
}
 
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
#define CNOID_BODY_HANDLER_EXPORT __declspec(dllexport)
#elif __GNUC__ >= 4
#define CNOID_BODY_HANDLER_EXPORT __attribute__ ((visibility("default")))
#else 
#define CNOID_BODY_HANDLER_EXPORT
#endif
 
#define CNOID_IMPLEMENT_BODY_HANDLER_FACTORY(HandlerClassName)  \
    extern "C" CNOID_BODY_HANDLER_EXPORT cnoid::BodyHandler* createCnoidBodyHandler(std::ostream& os) \
    {\
        if(BodyHandler::checkVersion(#HandlerClassName, CNOID_VERSION, CNOID_INTERNAL_VERSION, os)){ \
            return new HandlerClassName(); \
        } \
        return nullptr; \
    }
 
#endif