PyBody.h
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00001 #include <boost/python.hpp>
00002 #include "hrpsys/util/BodyRTC.h"
00003 #include "hrpsys/util/GLbody.h"
00004 
00005 class PyLink;
00006 class PySimulator;
00007 
00008 class PyBody : public BodyRTC, public GLbody
00009 {
00010 public:
00011     enum{STRUCTURE, KINEMATICS}; 
00012 
00013     PyBody(RTC::Manager* manager = &RTC::Manager::instance());
00014     virtual ~PyBody();
00015     //std::vector<double> getPosition();
00016     PyObject *getPosition();
00017     void setPosition(PyObject *v);
00018     PyObject *getRotation();
00019     void setRotation(PyObject *v);
00020     PyObject *getPosture();
00021     void setPosture(PyObject *v);
00022     std::string getName();
00023     void calcForwardKinematics();
00024     PyLink *rootLink();
00025     PyLink *link(std::string name);
00026     PyObject *links();
00027     PyLink *joint(int i);
00028     PyObject *joints();
00029     PyObject *calcCM();
00030     void notifyChanged(int change);
00031     void setListener(PySimulator *i_sim);
00032     static void moduleInit(RTC::Manager*);
00033 private:
00034     static const char* pybody_spec[];
00035     PySimulator *simulator;
00036 };
00037 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55