Choreonoid 1.3から以下の点が変更されています。
干渉チェックColdetLinkPairUpdateCheckPtr -> cnoid::ColdetLinkPairPtr
#include <boost/make_shared.hpp> using namespace boost;
#ifdef CNOID_10_11_12_13 arm()->palmObjPair = new ColdetLinkPair(palm(),object() ); #else arm()->palmObjPair = make_shared< ColdetLinkPair >(body(), palm(), bodyItem->body(), object() ); #endif
ColdetLinkPairUpdateCheckPtr temp= new ColdetLinkPairUpdateCheck(bodyItemRobot()->body()->link(i),bodyItemRobot()->body()->link(j));
#ifdef CNOID_10_11_12_13 ColdetLinkPairPtr temp= new ColdetLinkPair(bodyItemRobot()->body()->link(i),bodyItemRobot()->body()->link(j)); #else ColdetLinkPairPtr temp = make_shared< ColdetLinkPair >(bodyItemRobot()->body(), bodyItemRobot()->body()->link(i), bodyItemRobot()->body(), bodyItemRobot()->body()->link(j) ); #endif
robotObjPairs.push_back(new ColdetLinkPairUpdateCheck(bodyItemRobot()->body()->link(j), object() ));
#ifdef CNOID_10_11_12_13 robotObjPairs.push_back(new ColdetLinkPair(bodyItemRobot()->body()->link(j), object() )); #else robotObjPairs.push_back(make_shared< ColdetLinkPair >(bodyItemRobot()->body(),bodyItemRobot()->body()->link(j),targetObject->bodyItemObject->body(),object())); #endif
#ifdef CNOID_10_11_12_13 if(j==nJoints-1) linkObjPair[j] = new ColdetLinkPair(tip, bo->body()->link(0)); else linkObjPair[j] = new ColdetLinkPair(fing_path->joint(j), bo->body()->link(0)); #else if(j==nJoints-1) linkObjPair[j] = make_shared< ColdetLinkPair >(body, tip, bo->body(), bo->body()->link(0)); else linkObjPair[j] = make_shared< ColdetLinkPair >(body, fing_path->joint(j), bo->body(), bo->body()->link(0)); #endif
#include <cnoid/JointPath>
#ifdef CNOID_10_11_12_13 fing_path = body->getJointPath(palm, tip); #else fing_path = make_shared< JointPath >(palm, tip); #endif
#ifndef CNOID_10_11_12_13 #include <cnoid/ItemList> #endif
#ifdef CNOID_10_11_12_13 BodyItem* item = prevSelected[i]; #else BodyItem* item = prevSelected.get(i); #endif