CoordinateFrameList.h

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#ifndef CNOID_UTIL_COORDINATE_FRAME_LIST_H
#define CNOID_UTIL_COORDINATE_FRAME_LIST_H
 
#include "ClonableReferenced.h"
#include "CoordinateFrame.h"
#include "Signal.h"
#include <string>
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT CoordinateFrameList : public ClonableReferenced
{
public:
    CoordinateFrameList();
    CoordinateFrameList(const CoordinateFrameList& org);
    ~CoordinateFrameList();
 
    CoordinateFrameList& operator=(const CoordinateFrameList& rhs);
 
    enum FrameType { Base, Offset };
    void setFrameType(int type) { frameType_ = type; }
    int frameType() const { return frameType_; }
    bool isForBaseFrames() const { return frameType_ == Base; }
    bool isForOffsetFrames() const { return frameType_ == Offset; }
 
    void setFirstElementAsDefaultFrame(bool on = true);
    bool hasFirstElementAsDefaultFrame() const { return hasFirstElementAsDefaultFrame_; }
    bool isDefaultFrameId(const GeneralId& id) const;
    
    void clear();
 
    int numFrames() const;
    CoordinateFrame* frameAt(int index) const;
    CoordinateFrame* findFrame(const GeneralId& id) const;
    int indexOf(CoordinateFrame* frame) const;
 
    bool insert(int index, CoordinateFrame* frame);
    bool append(CoordinateFrame* frame);
    void removeAt(int index);
    bool remove(CoordinateFrame* frame);
 
    SignalProxy<void(int index)> sigFrameAdded();
    SignalProxy<void(int index, CoordinateFrame* frame)> sigFrameRemoved();
    SignalProxy<void(int index, int flags)> sigFrameUpdated();
 
    bool resetId(CoordinateFrame* frame, const GeneralId& newId);
 
    void resetIdCounter(int id = 0);
    GeneralId createNextId(int prevId = -1);
 
    bool read(const Mapping& archive);
    void write(Mapping& archive) const;
    void writeHeader(Mapping& archive) const;
    void writeFrames(Mapping& archive) const;
 
protected:
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
    
private:
    // Called from the CoordinateFrame implementation
    void notifyFrameUpdate(CoordinateFrame* frame, int flags);
    
    class Impl;
    Impl* impl;
    int frameType_;
    bool hasFirstElementAsDefaultFrame_;
 
    friend class CoordinateFrame;
};
 
typedef ref_ptr<CoordinateFrameList> CoordinateFrameListPtr;
 
}
 
#endif