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00014 #ifndef HRPMODEL_MODEL_LOADER_UTIL_H_INCLUDED
00015 #define HRPMODEL_MODEL_LOADER_UTIL_H_INCLUDED
00016
00017 #ifdef __WIN32__
00018 #pragma warning(disable:4996)
00019 #endif
00020
00021 #include "Body.h"
00022 #include <hrpCorba/ORBwrap.h>
00023 #include <hrpCorba/ModelLoader.hh>
00024 #include <string>
00025 #include <sstream>
00026
00027 namespace hrp
00028 {
00029 HRPMODEL_API bool loadBodyFromBodyInfo(BodyPtr body, OpenHRP::BodyInfo_ptr bodyInfo, bool loadGeometryForCollisionDetection = false, Link *(*f)()=NULL);
00030 HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, int& argc, char* argv[]);
00031 HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, CORBA_ORB_var orb);
00032 HRPMODEL_API OpenHRP::BodyInfo_var loadBodyInfo(const char* url, CosNaming::NamingContext_var cxt);
00033 HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, CORBA_ORB_var orb, bool loadGeometryForCollisionDetection = false);
00034 HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, CosNaming::NamingContext_var cxt, bool loadGeometryForCollisionDetection = false);
00035 HRPMODEL_API bool loadBodyFromModelLoader(BodyPtr body, const char* url, int& argc, char* argv[], bool loadGeometryForCollisionDetection = false);
00036 HRPMODEL_API OpenHRP::ModelLoader_var getModelLoader(CosNaming::NamingContext_var cxt);
00037 HRPMODEL_API OpenHRP::ModelLoader_var getModelLoader(CORBA_ORB_var orb);
00038 };
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00041 #endif