KinematicSimulatorItem.h

Go to the documentation of this file.

#ifndef CNOID_BODY_PLUGIN_KINEMATIC_SIMULATOR_ITEM_H
#define CNOID_BODY_PLUGIN_KINEMATIC_SIMULATOR_ITEM_H
 
#include "SimulatorItem.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT KinematicSimulatorItem : public SimulatorItem
{
public:
    static void initializeClass(ExtensionManager* ext);
 
    KinematicSimulatorItem();
    KinematicSimulatorItem(const KinematicSimulatorItem& org);
    virtual ~KinematicSimulatorItem();
    virtual Item* doDuplicate() const override;
 
protected:
    virtual void clearSimulation() override;
    virtual SimulationBody* createSimulationBody(Body* orgBody, CloneMap& cloneMap) override;
    virtual bool initializeSimulation(const std::vector<SimulationBody*>& simBodies) override;
    virtual bool stepSimulation(const std::vector<SimulationBody*>& activeSimBodies) override;
    virtual void finalizeSimulation() override;
    virtual void doPutProperties(PutPropertyFunction& putProperty) override;
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
private:
    class Impl;
    Impl* impl;
};
 
typedef ref_ptr<KinematicSimulatorItem> KinematicSimulatorItemPtr;
 
}
 
#endif