MarkerDevice.h

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#ifndef CNOID_BODY_MARKER_DEVICE_H
#define CNOID_BODY_MARKER_DEVICE_H
 
#include <cnoid/Device>
#include "exportdecl.h"
 
namespace cnoid {
 
class StdBodyLoader;
class Mapping;
 
class CNOID_EXPORT MarkerDevice : public Device
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    MarkerDevice();
    MarkerDevice(const MarkerDevice& org, bool copyStateOnly = false);
    
    virtual const char* typeName() const override;
    void copyMarkerDeviceStateFrom(const MarkerDevice& other);
    virtual void copyStateFrom(const DeviceState& other) override;
    virtual DeviceState* cloneState() const 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;
 
    bool readSpecifications(const Mapping* node);
    bool writeSpecifications(Mapping* node) const;
 
    virtual bool on() const override;
    virtual void on(bool on) override;
 
    enum MarkerType {
        CROSS_MARKER,
        SPHERE_MARKER,
        AXES_MARKER,
        N_MARKER_TYPES
    };
 
    int markerType() const { return markerType_; }
    void setMarkerType(int type){ markerType_ = type; }
 
    double markerSize() const { return markerSize_; }
    void setMarkerSize(double size) { markerSize_ = size; }
        
    const Vector3f& color() const { return color_; }
    void setColor(const Vector3f& c) { color_ = c; }
    float emission() const { return emission_; }
    void setEmission(float r) { emission_ = r; }
    float transparency() const { return transparency_; }
    void setTransparency(float t) { transparency_ = t; }
 
    const Isometry3& offsetPosition() const { return offsetPosition_; }
    void setOffsetPosition(const Isometry3& T) { offsetPosition_ = T; }
    void setOffsetTranslation(const Vector3& p) { offsetPosition_.translation() = p; }
 
protected:
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    bool on_;
    int markerType_;
    Isometry3 offsetPosition_;
    Vector3f color_;
    float markerSize_;
    float emission_;
    float transparency_;
};
 
typedef ref_ptr<MarkerDevice> MarkerDevicePtr;
 
}
 
#endif