LinkKinematicsKitManager.h

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#ifndef CNOID_BODY_PLUGIN_LINK_KINEMATICS_KIT_MANAGER_H
#define CNOID_BODY_PLUGIN_LINK_KINEMATICS_KIT_MANAGER_H
 
#include <memory>
#include "exportdecl.h"
 
namespace cnoid {
 
class BodyItem;
class LinkKinematicsKit;
class Link;
class Mapping;
 
class CNOID_EXPORT LinkKinematicsKitManager
{
public:
    LinkKinematicsKitManager(BodyItem* bodyItem);
    ~LinkKinematicsKitManager();
 
    LinkKinematicsKit* getCurrentKinematicsKit(Link* targetLink);
    LinkKinematicsKit* findPresetKinematicsKit(Link* targetLink = nullptr);
    
    bool storeState(Mapping& archive) const;
    bool restoreState(const Mapping& archive);
 
private:
    class Impl;
    Impl* impl;
};
 
}
 
#endif