Choreonoid  1.5
KinematicsBar.h
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1 
5 #ifndef CNOID_BODY_PLUGIN_KINEMATICS_BAR_H
6 #define CNOID_BODY_PLUGIN_KINEMATICS_BAR_H
7 
8 #include <cnoid/ToolBar>
9 #include "exportdecl.h"
10 
11 namespace cnoid {
12 
13 class KinematicsBarImpl;
14 
16 {
17 public:
18  static KinematicsBar* instance();
19 
20  virtual ~KinematicsBar();
21 
22  enum Mode { AUTO_MODE, FK_MODE, IK_MODE };
23  int mode() const;
24 
25  bool isPositionDraggerEnabled() const;
26  bool isFootSnapMode() const;
27  void getSnapThresholds(double& distance, double& angle) const;
28  bool isJointPositionLimitMode() const;
29  bool isPenetrationBlockMode() const;
30  double penetrationBlockDepth() const;
31 
32  bool isCollisionLinkHighlihtMode() const;
33  int collisionDetectionPriority() const;
34  SignalProxy<void()> sigCollisionVisualizationChanged();
35 
36 protected:
37  virtual bool storeState(Archive& archive);
38  virtual bool restoreState(const Archive& archive);
39 
40 private:
41  KinematicsBar();
42 
43  KinematicsBarImpl* impl;
44 };
45 
46 }
47 
48 #endif
Definition: KinematicsBar.h:15
Definition: Archive.h:21
Definition: ToolBar.h:22
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Mode
Definition: KinematicsBar.h:22
Definition: Signal.h:380