ModelLoader_impl.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
15 #ifndef OPENHRP_MODELLOADER_IMPL_H_INCLUDED
16 #define OPENHRP_MODELLOADER_IMPL_H_INCLUDED
17 
18 #include <map>
19 #include <string>
20 #include <hrpCorba/ORBwrap.h>
21 #include <hrpCorba/ModelLoader.hh>
22 
23 #include "BodyInfo_impl.h"
24 #include "BodyInfoCollada_impl.h"
25 #include "SceneInfo_impl.h"
26 
27 using namespace OpenHRP;
28 
29 
30 class ModelLoader_impl : public POA_OpenHRP::ModelLoader
31 {
32  CORBA::ORB_var orb;
33  PortableServer::POA_var poa;
34 
35  typedef std::map<std::string, POA_OpenHRP::BodyInfo*> UrlToBodyInfoMap;
37 
38  POA_OpenHRP::BodyInfo* loadBodyInfoFromModelFile(const std::string url, const OpenHRP::ModelLoader::ModelLoadOption option );
39 
40  public:
41 
42  ModelLoader_impl(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa);
43  virtual ~ModelLoader_impl();
44 
45  virtual PortableServer::POA_ptr _default_POA();
46 
47  virtual BodyInfo_ptr getBodyInfo(const char* url)
48  throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
49 
50  virtual BodyInfo_ptr getBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option )
51  throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
52 
53  virtual BodyInfo_ptr loadBodyInfo(const char* url)
54  throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
55 
56  virtual BodyInfo_ptr loadBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option)
57  throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
58 
59  virtual SceneInfo_ptr loadSceneInfo(const char* url)
60  throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
61 
62  virtual void clearData();
63 
64  void shutdown();
65 };
66 
67 
68 #endif
SceneInfo_impl.h
ModelLoader_impl::poa
PortableServer::POA_var poa
Definition: ModelLoader_impl.h:33
ModelLoader_impl::UrlToBodyInfoMap
std::map< std::string, POA_OpenHRP::BodyInfo * > UrlToBodyInfoMap
Definition: ModelLoader_impl.h:35
ModelLoader_impl
Definition: ModelLoader_impl.h:30
hrp::loadBodyInfo
HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char *url, int &argc, char *argv[])
Definition: hrplib/hrpModel/ModelLoaderUtil.cpp:632
ModelLoader_impl::orb
CORBA::ORB_var orb
Definition: ModelLoader_impl.h:32
OpenHRP
Definition: ConstraintForceSolver.h:19
option
JCOPY_OPTION option
Definition: transupp.h:131
BodyInfoCollada_impl.h
ORBwrap.h
BodyInfo_impl.h
ModelLoader_impl::urlToBodyInfoMap
UrlToBodyInfoMap urlToBodyInfoMap
Definition: ModelLoader_impl.h:36


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03