openhrp3: ModelLoaderUtil.h Source File

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00001 // -*- mode: c++; indent-tabs-mode: nil; tab-width: 4; c-basic-offset: 4; -*-
00002 /*
00003  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00004  * All rights reserved. This program is made available under the terms of the
00005  * Eclipse Public License v1.0 which accompanies this distribution, and is
00006  * available at http://www.eclipse.org/legal/epl-v10.html
00007  * Contributors:
00008  * The University of Tokyo
00009  * National Institute of Advanced Industrial Science and Technology (AIST)
00010  * General Robotix Inc. 
00011  */
00012 #ifndef MODEL_LOADER_UTIL_H_INCLUDED
00013 #define MODEL_LOADER_UTIL_H_INCLUDED
00014 
00015 #include <sstream>
00016 
00017 #include <hrpCorba/ModelLoader.hh>
00018 #include "hrpCorba/ORBwrap.h"
00019 
00020 class World;
00021 
00022 int loadBodyFromBodyInfo(::World* world, const char* name, OpenHRP::BodyInfo_ptr bodyInfo);
00023 int loadBodyFromModelLoader(::World* world, const char* name,const char *url, CORBA_ORB_var orb);
00024 int loadBodyFromModelLoader(::World* world, const char* name, const char *url, CosNaming::NamingContext_var cxt);
00025 int loadBodyFromModelLoader(::World* world, const char* name, const char *url, int argc, char *argv[]);
00026 int loadBodyFromModelLoader(::World* world, const char* name, const char *url, std::istringstream& strm);
00027 
00028 
00029 #endif