ColdetLinkPair.h
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00001 
00005 #ifndef HRPMODEL_COLDET_LINK_PAIR_H_INCLUDED
00006 #define HRPMODEL_COLDET_LINK_PAIR_H_INCLUDED
00007 
00008 #include <hrpCollision/ColdetModelPair.h>
00009 #include "Link.h"
00010 #include "Config.h"
00011 
00012 namespace hrp {
00013     
00014     class Link;
00015     
00016     class HRPMODEL_API ColdetLinkPair : public ColdetModelPair
00017     {
00018       public:
00019         ColdetLinkPair(Link* link1, Link* link2, double tolerance=0);
00020         
00021         ColdetLinkPair(const ColdetLinkPair& org);
00022         
00023         virtual ~ColdetLinkPair();
00024         
00025         void updatePositions();
00026         
00027         hrp::Link* link(int index);
00028         
00029       protected:
00030         hrp::Link* links[2];
00031         
00032       private:
00033     };
00034     
00035     typedef boost::intrusive_ptr<ColdetLinkPair> ColdetLinkPairPtr;
00036 }
00037 
00038 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53