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