openhrp3: ModelLoaderUtil.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 
00014 #ifndef HRPMODEL_MODEL_LOADER_UTIL_H_INCLUDED
00015 #define HRPMODEL_MODEL_LOADER_UTIL_H_INCLUDED
00016 
00017 #ifdef __WIN32__
00018 #pragma warning(disable:4996)
00019 #endif
00020 
00021 #include "Body.h"
00022 #include <hrpCorba/ORBwrap.h>
00023 #include <hrpCorba/ModelLoader.hh>
00024 #include <string>
00025 #include <sstream>
00026 
00027 namespace hrp
00028 {
00029     HRPMODEL_API bool loadBodyFromBodyInfo(BodyPtr body, OpenHRP::BodyInfo_ptr bodyInfo, bool loadGeometryForCollisionDetection = false, Link *(*f)()=NULL);
00030     HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, int& argc, char* argv[]);
00031     HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, CORBA_ORB_var orb);
00032     HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, CosNaming::NamingContext_var cxt);
00033     HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, CORBA_ORB_var orb, bool loadGeometryForCollisionDetection = false);
00034     HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, CosNaming::NamingContext_var cxt,  bool loadGeometryForCollisionDetection = false);
00035     HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, int& argc, char* argv[],  bool loadGeometryForCollisionDetection = false);
00036     HRPMODEL_API OpenHRP::ModelLoader_var getModelLoader(CosNaming::NamingContext_var cxt);
00037     HRPMODEL_API OpenHRP::ModelLoader_var getModelLoader(CORBA_ORB_var orb);
00038 };
00039 
00040 
00041 #endif