6 #ifndef CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
7 #define CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
9 #include <Eigen/StdVector>
10 #include <cnoid/EigenTypes>
11 #include <cnoid/VrmlNodes>
12 #include <boost/shared_ptr.hpp>
13 #include <boost/signals.hpp>
26 typedef std::vector<Affine3, Eigen::aligned_allocator<Affine3> >
Affine3Array;
38 class ModelNodeSetImpl;
47 bool loadModelFile(
const std::string& filename);
59 boost::signal<void(const std::string& message)>
sigMessage;
63 Exception(
const std::string& description) : description(description) { }
64 const char*
what()
const {
return description.c_str(); }
66 std::string description;
70 ModelNodeSetImpl* impl;
Exception(const std::string &description)
Definition: ModelNodeSet.h:63
const char * what() const
Definition: ModelNodeSet.h:64
boost::intrusive_ptr< VrmlProtoInstance > VrmlProtoInstancePtr
Definition: VrmlNodes.h:844
Definition: ModelNodeSet.h:40
VrmlProtoInstancePtr jointNode
Definition: ModelNodeSet.h:28
std::vector< JointNodeSetPtr > JointNodeSetArray
Definition: ModelNodeSet.h:36
boost::shared_ptr< ModelNodeSet > ModelNodeSetPtr
Definition: BodyLoader.h:15
Definition: ModelNodeSet.h:61
Definition: ModelNodeSet.h:23
std::vector< Affine3, Eigen::aligned_allocator< Affine3 > > Affine3Array
Definition: ModelNodeSet.h:26
std::vector< VrmlProtoInstancePtr > segmentNodes
Definition: ModelNodeSet.h:31
Affine3Array transforms
Definition: ModelNodeSet.h:30
std::vector< JointNodeSetPtr > childJointNodeSets
Definition: ModelNodeSet.h:29
std::vector< VrmlProtoInstancePtr > hwcNodes
Definition: ModelNodeSet.h:33
boost::signal< void(const std::string &message)> sigMessage
Definition: ModelNodeSet.h:59
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
boost::shared_ptr< JointNodeSet > JointNodeSetPtr
Definition: ModelNodeSet.h:20
std::vector< VrmlProtoInstancePtr > sensorNodes
Definition: ModelNodeSet.h:32