ColdetLinkPair.h

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#ifndef HRPMODEL_COLDET_LINK_PAIR_H_INCLUDED
#define HRPMODEL_COLDET_LINK_PAIR_H_INCLUDED

#include <hrpCollision/ColdetModelPair.h>
#include "Link.h"
#include "Config.h"

namespace hrp {
    
    class Link;
    
    class HRPMODEL_API ColdetLinkPair : public ColdetModelPair
    {
      public:
        ColdetLinkPair(Link* link1, Link* link2, double tolerance=0);
        
        ColdetLinkPair(const ColdetLinkPair& org);
        
        virtual ~ColdetLinkPair();
        
        void updatePositions();
        
        hrp::Link* link(int index);
        
      protected:
        hrp::Link* links[2];
        
      private:
    };
    
    typedef boost::intrusive_ptr<ColdetLinkPair> ColdetLinkPairPtr;
}

#endif