00001 #include <boost/function.hpp> 00002 #include <hrpModel/World.h> 00003 #include <hrpModel/Body.h> 00004 #include <hrpModel/ConstraintForceSolver.h> 00005 #include <hrpModel/ColdetLinkPair.h> 00006 #include "hrpsys/util/Project.h" 00007 #include "hrpsys/util/OpenRTMUtil.h" 00008 00009 typedef boost::function2<hrp::BodyPtr, const std::string&, const ModelItem&> BodyFactory; 00010 00011 void initWorld(Project& prj, BodyFactory &factory, 00012 hrp::World<hrp::ConstraintForceSolver>& world, 00013 std::vector<hrp::ColdetLinkPairPtr>& pairs); 00014 00015 void initRTS(Project &prj, std::vector<ClockReceiver>& receivers); 00016 00017