HolderDevice.h

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#ifndef CNOID_BODY_HOLDER_DEVICE_H
#define CNOID_BODY_HOLDER_DEVICE_H
 
#include "Device.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class AttachmentDevice;
typedef ref_ptr<AttachmentDevice> AttachmentDevicePtr;
class Mapping;
 
class CNOID_EXPORT HolderDevice : public Device
{
public:
    HolderDevice();
    virtual ~HolderDevice();
 
    virtual const char* typeName() const override;
    void copyHolderDeviceStateFrom(const HolderDevice* other);
    virtual void copyStateFrom(const DeviceState& other) override;
    virtual DeviceState* cloneState() const override;
    void copyHolderDeviceFrom(const HolderDevice* device);
    virtual bool copyFrom(const Device* other) override;
    virtual void forEachActualType(std::function<bool(const std::type_info& type)> func) override;
    virtual int stateSize() const override;
    virtual const double* readState(const double* buf) override;
    virtual double* writeState(double* out_buf) const override;
 
    virtual bool on() const override;
    virtual void on(bool on) override;
 
    std::string category() const;
    void setCategory(const std::string& category);
 
    enum HoldCondition { Distance, Collision, Name };
    int holdCondition() const;
    void setHoldCondition(int condition);
    double maxHoldDistance() const;
    void setMaxHoldDistance(double distance);
    const std::string& holdTargetName() const;
    void setHoldTargetName(const std::string& name);
 
    int numAttachments() const;
    AttachmentDevice* attachment(int index);
    bool addAttachment(AttachmentDevice* attachment);
    void removeAttachment(int index);
    bool removeAttachment(AttachmentDevice* attachment);
    void clearAttachments();
 
    bool readDescription(const Mapping* info);
    bool writeDescription(Mapping* info) const;
 
protected:
    HolderDevice(const HolderDevice& org, bool copyStateOnly, CloneMap* cloneMap);
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    bool on_;
    class NonState;
    NonState* ns;
};
 
typedef ref_ptr<HolderDevice> HolderDevicePtr;
 
}
 
#endif