00001 #ifndef __RTCGLBODY_H__ 00002 #define __RTCGLBODY_H__ 00003 00004 #include <rtm/idl/BasicDataType.hh> 00005 #include <rtm/idl/ExtendedDataTypes.hh> 00006 #include <rtm/DataInPort.h> 00007 #include <rtm/idl/BasicDataTypeSkel.h> 00008 #include <rtm/idl/ExtendedDataTypesSkel.h> 00009 00010 class GLbody; 00011 namespace RTC 00012 { 00013 class DataFlowComponentBase; 00014 }; 00015 00016 class RTCGLbody 00017 { 00018 public: 00019 RTCGLbody(GLbody *i_body, RTC::DataFlowComponentBase *comp); 00020 void input(); 00021 GLbody *body() { return m_body; } 00022 private: 00023 GLbody *m_body; 00024 RTC::TimedDoubleSeq m_q; 00025 RTC::TimedPoint3D m_pos; 00026 RTC::TimedOrientation3D m_rpy; 00027 00028 RTC::InPort<RTC::TimedDoubleSeq> m_qIn; 00029 RTC::InPort<RTC::TimedPoint3D> m_posIn; 00030 RTC::InPort<RTC::TimedOrientation3D> m_rpyIn; 00031 }; 00032 #endif