CustomJointPathHandler.h

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#ifndef CNOID_BODY_CUSTOM_JOINT_PATH_HANDLER_H
#define CNOID_BODY_CUSTOM_JOINT_PATH_HANDLER_H
 
#include "BodyHandler.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class Link;
class JointPath;
 
class CNOID_EXPORT CustomJointPathHandler : public virtual BodyHandler
{
public:
    virtual std::shared_ptr<JointPath> getCustomJointPath(Link* baseLink, Link* endLink) = 0;
};
 
typedef ref_ptr<CustomJointPathHandler> CustomJointPathHandlerPtr;
 
}
 
#endif