KinematicFaultChecker.h

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#ifndef CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H
#define CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H
 
#include <ostream>
#include <limits>
#include "exportdecl.h"
 
namespace cnoid {
    
class ExtensionManager;
class BodyItem;
class BodyMotionItem;
 
class CNOID_EXPORT KinematicFaultChecker
{
public:
    static void initializeClass(ExtensionManager* ext);
    static KinematicFaultChecker* instance();
            
    KinematicFaultChecker();
    virtual ~KinematicFaultChecker();
 
    int checkFaults(
        BodyItem* bodyItem, BodyMotionItem* motionItem,
        double beginningTime = 0.0, double endingTime = std::numeric_limits<double>::max());
 
private:
    class Impl;
    Impl* impl;
};
 
}
 
#endif