00001 /* 00002 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00003 * All rights reserved. This program is made available under the terms of the 00004 * Eclipse Public License v1.0 which accompanies this distribution, and is 00005 * available at http://www.eclipse.org/legal/epl-v10.html 00006 * Contributors: 00007 * National Institute of Advanced Industrial Science and Technology (AIST) 00008 */ 00009 00010 #ifndef ODE_MODEL_LOADER_UTIL_H_INCLUDED 00011 #define ODE_MODEL_LOADER_UTIL_H_INCLUDED 00012 00013 #include <ode/ode.h> 00014 #include "ODE_World.h" 00015 #include "ODE_Link.h" 00016 00017 #include <hrpCorba/ORBwrap.h> 00018 #include <hrpCorba/ModelLoader.hh> 00019 #include <hrpUtil/Eigen4d.h> 00020 #include <hrpModel/Body.h> 00021 #include <hrpModel/Sensor.h> 00022 00023 00024 bool ODE_loadBodyFromBodyInfo(hrp::BodyPtr body, ODE_World* world, OpenHRP::BodyInfo_ptr bodyInfo ); 00025 00026 00027 #endif