Choreonoid  1.5
KinematicFaultChecker.h
Go to the documentation of this file.
1 
5 #ifndef CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED
6 #define CNOID_BODYPLUGIN_KINEMATIC_FAULT_CHECKER_H_INCLUDED
7 
8 #include <ostream>
9 #include <limits>
10 #include "exportdecl.h"
11 
12 namespace cnoid {
13 
14 class ExtensionManager;
15 class BodyItem;
16 class BodyMotionItem;
17 class KinematicFaultCheckerImpl;
18 
20 {
21 public:
22  static void initialize(ExtensionManager* ext);
23  static KinematicFaultChecker* instance();
24 
26  virtual ~KinematicFaultChecker();
27 
28  int checkFaults(
29  BodyItem* bodyItem, BodyMotionItem* motionItem, std::ostream& os,
30  double beginningTime = 0.0, double endingTime = std::numeric_limits<double>::max());
31 
32 private:
33  KinematicFaultCheckerImpl* impl;
34 };
35 }
36 
37 #endif
38 
Definition: ExtensionManager.h:26
Definition: BodyMotionItem.h:18
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: BodyItem.h:31
Definition: KinematicFaultChecker.h:19