CoordinateFrameListItem.h

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#ifndef CNOID_BASE_COORDINATE_FRAME_LIST_ITEM_H
#define CNOID_BASE_COORDINATE_FRAME_LIST_ITEM_H
 
#include "Item.h"
#include "RenderableItem.h"
#include "LocatableItem.h"
#include <cnoid/GeneralId>
#include <cnoid/Signal>
#include <cnoid/EigenTypes>
#include "exportdecl.h"
 
namespace cnoid {
 
class CoordinateFrameList;
class CoordinateFrameItem;
class CoordinateFrame;
class LocatableItem;
 
class CNOID_EXPORT CoordinateFrameListItem : public Item, public RenderableItem
{
public:
    static void initializeClass(ExtensionManager* ext);
 
    static SignalProxy<void(CoordinateFrameListItem* frameListItem, bool on)> sigListAssociationWith(Item* item);
 
    CoordinateFrameListItem();
    CoordinateFrameListItem(CoordinateFrameList* frameList);
    CoordinateFrameListItem(const CoordinateFrameListItem& org);
    virtual ~CoordinateFrameListItem();
 
    enum ItemizationMode {
        NoItemization,
        SubItemization,
        IndependentItemization
    };
 
    int itemizationMode() const;
    bool isNoItemizationMode() const;
    void setItemizationMode(int mode);
    void customizeFrameItemDisplayName(std::function<std::string(const CoordinateFrameItem* item)> func);
    std::string getFrameItemDisplayName(const CoordinateFrameItem* item) const;
    void updateFrameItems();
    CoordinateFrameItem* findFrameItemAt(int index);
    CoordinateFrameItem* findFrameItem(const GeneralId& id);
 
    CoordinateFrameList* frameList();
    const CoordinateFrameList* frameList() const;
 
    void useAsBaseFrames();
    void useAsOffsetFrames();
    bool isForBaseFrames() const;
    bool isForOffsetFrames() const;
 
    virtual LocationProxyPtr getFrameParentLocationProxy();
    bool getRelativeFramePosition(const CoordinateFrame* frame, Isometry3& out_T) const;
    bool getGlobalFramePosition(const CoordinateFrame* frame, Isometry3& out_T) const;
    bool switchFrameMode(CoordinateFrame* frame, int mode);
 
    // RenderableItem function
    virtual SgNode* getScene() override;
 
    void setFrameMarkerVisible(const CoordinateFrame* frame, bool on);
    ReferencedPtr transientFrameMarkerHolder(const CoordinateFrame* frame);
    bool isFrameMarkerVisible(const CoordinateFrame* frame) const;
    SignalProxy<void(int index, bool on)> sigFrameMarkerVisibilityChanged();
 
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
    class Impl;
 
protected:
    virtual Item* doDuplicate() const override;
    virtual void onTreePositionChanged() override;
    virtual void onDisconnectedFromRoot() override;
    virtual bool onChildItemAboutToBeAdded(Item* childItem, bool isManualOperation) override;
    virtual void doPutProperties(PutPropertyFunction& putProperty) override;
 
private:
    friend class CoordinateFrameItem;
    // Called from CoordinateFrameItem::onPositionChanged
    bool onFrameItemAdded(CoordinateFrameItem* frameItem);
    void onFrameItemRemoved(CoordinateFrameItem* frameItem);
    
private:
    Impl* impl;
};
 
typedef ref_ptr<CoordinateFrameListItem> CoordinateFrameListItemPtr;
 
}
 
#endif