LocatableItem.h

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#ifndef CNOID_BASE_LOCATABLE_ITEM_H
#define CNOID_BASE_LOCATABLE_ITEM_H
 
#include <cnoid/Referenced>
#include <cnoid/Signal>
#include <cnoid/EigenTypes>
#include "exportdecl.h"
 
namespace cnoid {
 
class Item;
class LocationProxy;
typedef ref_ptr<LocationProxy> LocationProxyPtr;
 
class CNOID_EXPORT LocationProxy : public Referenced
{
public:
    enum LocationType {
        InvalidLocation,
        GlobalLocation,
        ParentRelativeLocation,
        // This is basically same as ParentRelativeCoordinate, but
        // this maeks the global coordinate unavailable in the user interface
        OffsetLocation
    };
 
    virtual ~LocationProxy();
 
    LocationType locationType() const { return locationType_; }
    void setLocationType(LocationType type) { locationType_ = type; }
    virtual std::string getName() const;
    virtual Isometry3 getLocation() const = 0;
    virtual bool isEditable() const;
    virtual void setEditable(bool on);
    virtual bool setLocation(const Isometry3& T);
    virtual void finishLocationEditing();
    virtual Item* getCorrespondingItem();
    virtual LocationProxyPtr getParentLocationProxy() const;
    virtual void expire();
    virtual SignalProxy<void()> sigLocationChanged() = 0;
    virtual SignalProxy<void()> sigAttributeChanged();
    virtual SignalProxy<void()> sigExpired();
    Isometry3 getGlobalLocation() const;
    Isometry3 getGlobalLocationOf(const Isometry3 T) const;
    bool setGlobalLocation(const Isometry3& T);
    void notifyAttributeChange();
    bool requestEdit();
 
    static SignalProxy<bool(LocationProxyPtr location), LogicalSum> sigEditRequest();
 
protected:
    LocationProxy(LocationType type);
 
private:
    LocationType locationType_;
    bool isEditable_;
    Signal<void()> sigAttributeChanged_;
    Signal<void()> sigExpired_;
    ScopedConnection itemNameConnection_;
};
 
class LocatableItem
{
public:
    virtual LocationProxyPtr getLocationProxy() = 0;
};
 
}
 
#endif