MprTagTraceStatement.h

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#ifndef CNOID_MANIPULATOR_PLUGIN_MPR_TAG_TRACE_STATEMENT_H
#define CNOID_MANIPULATOR_PLUGIN_MPR_TAG_TRACE_STATEMENT_H
 
#include "MprBasicStatements.h"
#include "MprProgram.h"
#include <cnoid/GeneralId>
#include <cnoid/PositionTagGroup>
#include <cnoid/ConnectionSet>
#include "exportdecl.h"
 
namespace cnoid {
 
class LinkKinematicsKit;
 
class CNOID_EXPORT MprTagTraceStatement : public MprStructuredStatement
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    MprTagTraceStatement();
 
    virtual std::string label(int index) const override;
 
    void setTagGroupName(const std::string& name) { tagGroupName_ = name; }
 
    const std::string& tagGroupName() const { return tagGroupName_; }
    [[deprecated]]
    const std::string& originalTagGroupName() const { return tagGroupName(); }
 
    void setTagGroup(PositionTagGroup* tags, bool doUpdateTagGroupName, bool doUpdateTagTraceProgram);
    PositionTagGroup* tagGroup() { return tagGroup_; }
 
    const Isometry3& tagGroupPosition() const { return T_tags; }
    void setTagGroupPosition(const Isometry3& T) { T_tags = T; }
 
    const GeneralId& baseFrameId() const { return baseFrameId_; }
    const GeneralId& offsetFrameId() const { return offsetFrameId_; }
    void setBaseFrameId(const GeneralId& id){ baseFrameId_ = id; }
    void setOffsetFrameId(const GeneralId& id){ offsetFrameId_ = id; }
 
    void updateFramesWithCurrentFrames(LinkKinematicsKit* kinematicsKit);
    void updateTagGroupPositionWithGlobalCoordinate(
        LinkKinematicsKit* kinematicsKit, const Isometry3& T_global);
 
    virtual bool updateTagTraceProgram() = 0;
    bool decomposeIntoTagTraceStatements();
    
    virtual bool isExpandedByDefault() const override;
    virtual bool read(MprProgram* program, const Mapping& archive) override;
    virtual bool write(Mapping& archive) const override;
 
protected:
    MprTagTraceStatement(const MprTagTraceStatement& org, CloneMap* cloneMap);
 
    virtual void onTagAdded(int index);
    virtual void onTagRemoved(int index);
    virtual void onTagPositionUpdated(int index);
    virtual void onTagGroupOriginOffsetChanged();
 
private:
    std::string tagGroupName_;
    PositionTagGroupPtr tagGroup_;
    Isometry3 T_tags;
    GeneralId baseFrameId_;
    GeneralId offsetFrameId_;
    ScopedConnectionSet tagGroupConnections;
 
    void connectTagGroupUpdateSignals();
};
 
typedef ref_ptr<MprTagTraceStatement> MprTagTraceStatementPtr;
 
}
 
#endif