CoordinateFrame.h

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#ifndef CNOID_UTIL_COORDINATE_FRAME_H
#define CNOID_UTIL_COORDINATE_FRAME_H
 
#include "GeneralId.h"
#include "Referenced.h"
#include <cnoid/EigenTypes>
#include <cnoid/Signal>
#include <string>
#include "exportdecl.h"
 
namespace cnoid {
 
class CoordinateFrameList;
class Mapping;
 
class CNOID_EXPORT CoordinateFrame : public Referenced
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    CoordinateFrame();
    CoordinateFrame(const GeneralId& id);
    CoordinateFrame(const CoordinateFrame& org);
 
    CoordinateFrame(const GeneralId& id, CoordinateFrameList* owner);
 
    const GeneralId& id() const { return id_; }
    bool resetId(const GeneralId& id);
 
    enum Mode { Local, Global };
    void setMode(int mode) { mode_ = mode; }
    int mode() const { return mode_; }
    bool isLocal() const { return mode_ == Local; }
    bool isGlobal() const { return mode_ == Global; }
 
    const Isometry3& T() const { return T_; }
    const Isometry3& position() const { return T_; }
    void setPosition(const Isometry3& T) { T_ = T; }
 
    const std::string& note() const { return note_; }
    void setNote(const std::string& note) { note_ = note; }
 
    CoordinateFrameList* ownerFrameList() const;
 
    bool read(const Mapping& archive);
    bool write(Mapping& archive) const;
 
    enum UpdateFlag {
        IdUpdate = 1 << 0,
        ModeUpdate = 1 << 1,
        NoteUpdate = 1 << 2,
        PositionUpdate = 1 << 3
    };
    SignalProxy<void(int flags)> sigUpdated() { return sigUpdated_; }
    void notifyUpdate(int flags);
        
private:
    Isometry3 T_;
    GeneralId id_;
    int mode_;
    std::string note_;
    weak_ref_ptr<CoordinateFrameList> ownerFrameList_;
    Signal<void(int flags)> sigUpdated_;
 
    friend class CoordinateFrameList;
};
 
typedef ref_ptr<CoordinateFrame> CoordinateFramePtr;
 
}
 
#endif