SceneState.h
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00001 #ifndef __SCENE_STATE_H__
00002 #define __SCENE_STATE_H__
00003 
00004 #include <hrpCorba/OpenHRPCommon.hh>
00005 #include <hrpModel/World.h>
00006 #include "BodyState.h"
00007 
00008 class CollisionInfo
00009 {
00010 public:
00011     double position[3];
00012     double normal[3];
00013     double idepth;
00014 };
00015 
00016 class SceneState
00017 {
00018 public:
00019     void set(hrp::WorldBase& i_world, OpenHRP::CollisionSequence& i_collisions); 
00020     double time;
00021     std::vector<BodyState> bodyStates;
00022     std::vector<CollisionInfo> collisions;
00023 };
00024 
00025 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56