Helper class to save and restore the entire kinbody state. More...
#include <kinbody.h>
Public Member Functions | |
KinBodyStateSaver (KinBodyPtr pbody, int options=Save_LinkTransformation|Save_LinkEnable) | |
virtual | ~KinBodyStateSaver () |
KinBodyPtr | GetBody () const |
virtual void | Restore (boost::shared_ptr< KinBody > body=boost::shared_ptr< KinBody >()) |
restore the state | |
virtual void | Release () |
release the body state. _pbody will not get restored on destruction | |
Protected Attributes | |
int | _options |
saved options | |
std::vector< Transform > | _vLinkTransforms |
std::vector< uint8_t > | _vEnabledLinks |
std::vector< std::pair< Vector, Vector > > | _vLinkVelocities |
std::vector< int > | _vdofbranches |
std::vector< dReal > | _vMaxVelocities |
std::vector< dReal > | _vMaxAccelerations |
KinBodyPtr | _pbody |
Helper class to save and restore the entire kinbody state.
Options can be passed to the constructor in order to choose which parameters to save (see SaveParameters)
OpenRAVE::KinBody::KinBodyStateSaver::KinBodyStateSaver | ( | KinBodyPtr | pbody, |
int | options = Save_LinkTransformation|Save_LinkEnable |
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Definition at line 48 of file kinbody.cpp.
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Definition at line 68 of file kinbody.cpp.
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release the body state. _pbody will not get restored on destruction
After this call, it will still be possible to use Restore.
Definition at line 78 of file kinbody.cpp.
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restore the state
body | if set, will attempt to restore the stored state to the passed in body, otherwise will restore it for the original body. |
openrave_exception | if the passed in body is not compatible with the saved state, will throw |
Definition at line 73 of file kinbody.cpp.
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