CollisionSeq.h

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#ifndef CNOID_BODY_COLLISION_SEQ_H
#define CNOID_BODY_COLLISION_SEQ_H
 
#include <cnoid/CollisionLinkPair>
#include <cnoid/MultiSeq>
#include <cnoid/YAMLWriter>
#include "exportdecl.h"
 
namespace cnoid {
 
class YAMLWriter;
class CollisionSeqItem;
 
typedef std::vector<CollisionLinkPairPtr> CollisionLinkPairList;
 
class CNOID_EXPORT CollisionSeq : public MultiSeq<std::shared_ptr<CollisionLinkPairList>>
{
    typedef MultiSeq<std::shared_ptr<CollisionLinkPairList>> BaseSeqType;
 
public:
    CollisionSeqItem* collisionSeqItem_;
    CollisionSeq(CollisionSeqItem* collisionSeqItem);
 
    using BaseSeqType::operator=;
 
    bool loadStandardYAMLformat(const std::string& filename, std::ostream& os = nullout());
    bool saveAsStandardYAMLformat(const std::string& filename);
    void writeCollsionData(YAMLWriter& writer, std::shared_ptr<const CollisionLinkPairList> ptr);
    void readCollisionData(int nFrames, const Listing& values);
 
protected:
    virtual bool doReadSeq(const Mapping* archive, std::ostream& os) override;
    virtual bool doWriteSeq(YAMLWriter& writer, std::function<void()> additionalPartCallback) override;
};
 
}
 
#endif