00001 #include <hrpModel/Body.h> 00002 #include <hrpModel/Link.h> 00003 #include <boost/intrusive_ptr.hpp> 00004 00005 // robot model copy from RobotHardware 00006 class robot : public hrp::Body 00007 { 00008 public: 00012 robot(); 00013 00017 ~robot(); 00018 00022 bool init(); 00023 00030 bool setServoErrorLimit(const char *i_jname, double i_limit); 00031 00032 //boost::interprocess::interprocess_semaphore wait_sem; 00033 00034 std::vector<double> m_servoErrorLimit; 00035 };