AttachmentDevice.h

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#ifndef CNOID_BODY_ATTACHMENT_DEVICE_H
#define CNOID_BODY_ATTACHMENT_DEVICE_H
 
#include "Device.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class HolderDevice;
class StdBodyLoader;
class Mapping;
 
class CNOID_EXPORT AttachmentDevice : public Device
{
public:
    AttachmentDevice();
    virtual ~AttachmentDevice();
 
    virtual const char* typeName() const override;
    void copyAttachmentDeviceStateFrom(const AttachmentDevice& other);
    virtual void copyStateFrom(const DeviceState& other) override;
    virtual DeviceState* cloneState() const override;
    virtual void forEachActualType(std::function<bool(const std::type_info& type)> func) override;
    virtual int stateSize() const override;
    virtual const double* readState(const double* buf) override;
    virtual double* writeState(double* out_buf) const override;
 
    virtual bool on() const override;
    virtual void on(bool on) override;
 
    HolderDevice* holder();
    bool isAttaching() const;
    void detach();
 
    std::string category() const;
    void setCategory(const std::string& category);
    void clearCategory();
 
    bool readSpecifications(const Mapping* info);
    bool writeSpecifications(Mapping* info) const;
 
protected:
    AttachmentDevice(const AttachmentDevice& org, bool copyStateOnly, CloneMap* cloneMap);
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    weak_ref_ptr<HolderDevice> weak_holder;
    bool on_;
 
    std::string* category_; // Not a state
 
    friend class HolderDevice;
    void setHolder(HolderDevice* holder);
};
 
typedef ref_ptr<AttachmentDevice> AttachmentDevicePtr;
 
}
 
#endif