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18 lines
687 B
C++
18 lines
687 B
C++
#ifndef MULTIBODYTREEDEBUGGRAPH_HPP_
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#define MULTIBODYTREEDEBUGGRAPH_HPP_
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "BulletInverseDynamics/MultiBodyTree.hpp"
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#include "MultiBodyNameMap.hpp"
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namespace btInverseDynamics {
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/// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
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/// @param tree the multibody tree
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/// @param map to add names of links (if 0x0, no names will be added)
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/// @param filename name for the output file
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/// @return 0 on success, -1 on error
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int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
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const char* filename);
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}
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#endif // MULTIBODYTREEDEBUGGRAPH_HPP
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