6 #ifndef CNOID_BODY_POSE_PROVIDER_H_INCLUDED
7 #define CNOID_BODY_POSE_PROVIDER_H_INCLUDED
11 #include <boost/optional.hpp>
12 #include <cnoid/EigenTypes>
23 virtual bool seek(
double time) = 0;
24 virtual bool seek(
double time,
int waistLinkIndex,
const Vector3& waistTranslation) = 0;
27 virtual void getJointPositions(std::vector< boost::optional<double> >& out_q)
const = 0;
28 virtual boost::optional<Vector3>
zmp()
const = 0;
virtual bool seek(double time)=0
virtual boost::optional< Vector3 > zmp() const =0
virtual int baseLinkIndex() const =0
virtual double endingTime() const =0
virtual double beginningTime() const =0
Definition: PoseProvider.h:16
virtual ~PoseProvider()
Definition: PoseProvider.h:19
virtual void getJointPositions(std::vector< boost::optional< double > > &out_q) const =0
virtual Body * body() const =0
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
virtual bool getBaseLinkPosition(Vector3 &out_p, Matrix3 &out_R) const =0
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25