BodyMotionItem.h

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#ifndef CNOID_BODY_PLUGIN_BODY_MOTION_ITEM_H
#define CNOID_BODY_PLUGIN_BODY_MOTION_ITEM_H
 
#include <cnoid/BodyMotion>
#include <cnoid/MultiValueSeqItem>
#include <cnoid/MultiSE3SeqItem>
#include "exportdecl.h"
 
namespace cnoid {
 
class BodyMotionItemImpl;
 
class CNOID_EXPORT BodyMotionItem : public AbstractSeqItem
{
public:
    static void initializeClass(ExtensionManager* ext);
 
    static void addExtraSeqItemFactory(
        const std::string& key, std::function<AbstractSeqItem*(std::shared_ptr<AbstractSeq> seq)> factory);
 
    BodyMotionItem();
    BodyMotionItem(std::shared_ptr<BodyMotion> bodyMotion);
    BodyMotionItem(const BodyMotionItem& org);
    ~BodyMotionItem();
 
    virtual std::shared_ptr<AbstractSeq> abstractSeq() override;
 
    std::shared_ptr<BodyMotion> motion() { return bodyMotion_; }
    std::shared_ptr<const BodyMotion> motion() const { return bodyMotion_; }
 
    MultiValueSeqItem* jointPosSeqItem() {
        return jointPosSeqItem_;
    }
 
    const MultiValueSeqItem* jointPosSeqItem() const {
        return jointPosSeqItem_;
    }
 
    std::shared_ptr<MultiValueSeq> jointPosSeq() {
        return bodyMotion_->jointPosSeq();
    }
 
    MultiSE3SeqItem* linkPosSeqItem() {
        return linkPosSeqItem_;
    }
 
    const MultiSE3SeqItem* linkPosSeqItem() const {
        return linkPosSeqItem_;
    }
    
    std::shared_ptr<MultiSE3Seq> linkPosSeq() {
        return bodyMotion_->linkPosSeq();
    }
 
    int numExtraSeqItems() const;
    const std::string& extraSeqKey(int index) const;
    AbstractSeqItem* extraSeqItem(int index);
    const AbstractSeqItem* extraSeqItem(int index) const;
    SignalProxy<void()> sigExtraSeqItemsChanged();
    void updateExtraSeqItems();
 
    virtual void notifyUpdate() override;
 
protected:
    virtual bool onChildItemAboutToBeAdded(Item* childItem, bool isManualOperation) override;
    virtual Item* doDuplicate() const override;
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
private:
    std::shared_ptr<BodyMotion> bodyMotion_;
    MultiValueSeqItemPtr jointPosSeqItem_;
    MultiSE3SeqItemPtr linkPosSeqItem_;
 
    BodyMotionItemImpl* impl;
    friend class BodyMotionItemImpl;
};
 
typedef ref_ptr<BodyMotionItem> BodyMotionItemPtr;
 
}
 
#endif