hrpModel/OnlineViewerUtil.h

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#ifndef __HRPMODEL_ONLINEVIEWER_UTIL_H__
#define __HRPMODEL_ONLINEVIEWER_UTIL_H__

#include <hrpCorba/OpenHRPCommon.hh>
#include <hrpModel/Body.h>
#include <hrpModel/World.h>
#include <hrpModel/ColdetLinkPair.h>

void setupCharacterPosition(OpenHRP::CharacterPosition &characterPosition, 
                             hrp::BodyPtr body); 
void updateCharacterPosition(OpenHRP::CharacterPosition &characterPosition, 
                             hrp::BodyPtr body);
void getWorldState(OpenHRP::WorldState& state,  hrp::WorldBase& world);
void initWorldState(OpenHRP::WorldState& state, hrp::WorldBase& world);
void initWorldState(OpenHRP::WorldState& state, hrp::WorldBase& world,
                    std::vector<hrp::ColdetLinkPairPtr>& pairs);

#endif