MIRA
RobotModelProvider.h
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38 
47 #ifndef _MIRA_ROBOTMODELPROVIDER_H_
48 #define _MIRA_ROBOTMODELPROVIDER_H_
49 
50 #include <fw/Framework.h>
51 
54 
55 namespace mira { namespace robot {
56 
58 
62 class RobotModelProvider : public model::RigidModelProvider<RobotModel>,
63  public IRobotModelProvider
64 {
65 public:
67 
68  template<typename Reflector>
69  void reflect(Reflector& r)
70  {
73  }
74 
79  {
80  return mModel;
81  }
82 };
83 
85 
86 }}
87 
88 #endif
Interface for robot model provider services.
model::RigidModelProvider< RobotModel > Base
Definition: RobotModelProvider.h:66
#define MIRA_REFLECT_BASE(reflector, BaseClass)
void reflect(Reflector &r)
Definition: RobotModelProvider.h:69
Provides a service method to obtain the enclosed robot model.
Definition: RobotModelProvider.h:62
virtual RobotModelPtr getRobotModel()
Return the enclosed rigid model as RobotModel pointer.
Definition: RobotModelProvider.h:78
Interface for robot model provider services.
Definition: IRobotModelProvider.h:62
boost::shared_ptr< RobotModel > RobotModelPtr
A typedef for a shared pointer to a RobotModel.
Definition: RobotModel.h:132