openhrp3: ModelLoader_impl.h Source File

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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00009 
00015 #ifndef OPENHRP_MODELLOADER_IMPL_H_INCLUDED
00016 #define OPENHRP_MODELLOADER_IMPL_H_INCLUDED
00017 
00018 #include <map>
00019 #include <string>
00020 #include <hrpCorba/ORBwrap.h>
00021 #include <hrpCorba/ModelLoader.hh>
00022 
00023 #include "BodyInfo_impl.h"
00024 #include "BodyInfoCollada_impl.h"
00025 #include "SceneInfo_impl.h"
00026 
00027 using namespace OpenHRP;
00028 
00029 
00030 class ModelLoader_impl : public POA_OpenHRP::ModelLoader
00031 {
00032     CORBA::ORB_var orb;
00033     PortableServer::POA_var poa;
00034                 
00035     typedef std::map<std::string, POA_OpenHRP::BodyInfo*> UrlToBodyInfoMap;
00036     UrlToBodyInfoMap urlToBodyInfoMap;
00037 
00038     POA_OpenHRP::BodyInfo* loadBodyInfoFromModelFile(const std::string url, const OpenHRP::ModelLoader::ModelLoadOption option );
00039                 
00040   public:
00041                 
00042     ModelLoader_impl(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa);
00043     virtual ~ModelLoader_impl();
00044                 
00045     virtual PortableServer::POA_ptr _default_POA();
00046                 
00047     virtual BodyInfo_ptr getBodyInfo(const char* url)
00048         throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
00049 
00050     virtual BodyInfo_ptr getBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option )
00051         throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
00052 
00053     virtual BodyInfo_ptr loadBodyInfo(const char* url)
00054         throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
00055 
00056     virtual BodyInfo_ptr loadBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option)
00057         throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
00058 
00059     virtual SceneInfo_ptr loadSceneInfo(const char* url)
00060         throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
00061                 
00062     virtual void clearData();
00063                 
00064     void shutdown();
00065 };
00066 
00067 
00068 #endif