5 #ifndef CNOID_OPENHRP_PLUGIN_OPENHRP_CONTROLLER_ITEM_H 6 #define CNOID_OPENHRP_PLUGIN_OPENHRP_CONTROLLER_ITEM_H 9 #include <cnoid/corba/OpenHRP/3.0/Controller.hh> 10 #define OpenHRPControllerItem OpenHRP30ControllerItem 12 #include <cnoid/corba/OpenHRP/3.1/Controller.hh> 13 #define OpenHRPControllerItem OpenHRP31ControllerItem 15 #include <cnoid/ControllerItem> 16 #include <cnoid/CorbaUtil> 17 #include <cnoid/Process> 18 #include <boost/scoped_ptr.hpp> 21 class DynamicsSimulator_impl;
35 void setControllerServerName(
const std::string& name);
36 void setControllerServerCommand(
const std::string& command);
39 virtual double timeStep()
const;
41 virtual bool control();
42 virtual void output();
46 virtual void onDisconnectedFromRoot();
47 virtual Item* doDuplicate()
const;
49 virtual bool store(
Archive& archive);
50 virtual bool restore(
const Archive& archive);
53 void onReadyReadServerProcessOutput();
56 std::string controllerServerName;
57 std::string controllerServerCommand;
58 boost::scoped_ptr<OpenHRP::DynamicsSimulator_impl> dynamicsSimulator;
59 OpenHRP::Controller_var controller;
61 Process controllerServerProcess;
62 bool signalReadyStandardOutputConnected;
Definition: DynamicsSimulator_impl.h:14
Definition: PutPropertyFunction.h:35
Definition: Referenced.h:128
Definition: MessageView.h:19
ref_ptr< OpenHRPControllerItem > OpenHRPControllerItemPtr
Definition: OpenHRPControllerItem.h:66
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: OpenHRPControllerItem.h:28
Definition: ControllerItem.h:28
Definition: CorbaUtil.h:24
Definition: ControllerItem.h:16