PoseProviderToBodyMotionConverter.h

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#ifndef CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H
#define CNOID_BODY_POSE_PROVIDER_TO_BODY_MOTION_CONVERTER_H
 
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
class BodyMotion;
class PoseProvider;
 
class CNOID_EXPORT PoseProviderToBodyMotionConverter
{
public:
    PoseProviderToBodyMotionConverter();
    void setTimeRange(double lower, double upper);
    void setFullTimeRange();
    void setAllLinkPositionOutput(bool on);
    bool convert(Body* body, PoseProvider* provider, BodyMotion& motion);
 
private:
    double lowerTime;
    double upperTime;
    bool allLinkPositionOutputMode;
};
 
}
 
#endif