Go to the documentation of this file. 1 #ifndef CNOID_MANIPULATOR_PLUGIN_MPR_TAG_TRACE_STATEMENT_H
2 #define CNOID_MANIPULATOR_PLUGIN_MPR_TAG_TRACE_STATEMENT_H
6 #include <cnoid/GeneralId>
7 #include <cnoid/PositionTagGroup>
8 #include <cnoid/ConnectionSet>
9 #include "exportdecl.h"
13 class LinkKinematicsKit;
18 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 virtual std::string label(
int index)
const override;
30 void setTagGroup(
PositionTagGroup* tags,
bool doUpdateTagGroupName,
bool doUpdateTagTraceProgram);
43 void updateTagGroupPositionWithGlobalCoordinate(
46 virtual bool updateTagTraceProgram() = 0;
47 bool decomposeIntoTagTraceStatements();
49 virtual bool isExpandedByDefault()
const override;
56 virtual void onTagAdded(
int index);
57 virtual void onTagRemoved(
int index);
58 virtual void onTagPositionUpdated(
int index);
59 virtual void onTagGroupOriginOffsetChanged();
62 std::string tagGroupName_;
69 void connectTagGroupUpdateSignals();
const GeneralId & offsetFrameId() const
Definition: MprTagTraceStatement.h:38
Definition: ValueTree.h:253
Definition: MprStructuredStatement.h:10
void setTagGroupPosition(const Isometry3 &T)
Definition: MprTagTraceStatement.h:35
Definition: GeneralId.h:11
Listing * write(Mapping *mapping, const std::string &key, const Eigen::MatrixBase< Derived > &x)
Definition: EigenArchive.h:145
Eigen::Isometry3d Isometry3
Definition: EigenTypes.h:73
bool read(const Mapping *mapping, const std::string &key, Eigen::MatrixBase< Derived > &x)
Definition: EigenArchive.h:43
const std::string & tagGroupName() const
Definition: MprTagTraceStatement.h:26
ref_ptr< MprTagTraceStatement > MprTagTraceStatementPtr
Definition: MprTagTraceStatement.h:72
void setTagGroupName(const std::string &name)
Definition: MprTagTraceStatement.h:24
Definition: AbstractSceneLoader.h:11
Definition: LinkKinematicsKit.h:23
Definition: CloneMap.h:13
PositionTagGroup * tagGroup()
Definition: MprTagTraceStatement.h:31
void setOffsetFrameId(const GeneralId &id)
Definition: MprTagTraceStatement.h:40
const Isometry3 & tagGroupPosition() const
The position of the tag group on the base coordinate frame.
Definition: MprTagTraceStatement.h:34
Definition: ConnectionSet.h:96
Definition: PositionTagGroup.h:16
const GeneralId & baseFrameId() const
Definition: MprTagTraceStatement.h:37
Definition: MprTagTraceStatement.h:15
const std::string & originalTagGroupName() const
Definition: MprTagTraceStatement.h:28
Definition: MprProgram.h:21
void setBaseFrameId(const GeneralId &id)
Definition: MprTagTraceStatement.h:39