RangeCamera.h

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#ifndef CNOID_BODY_RANGE_CAMERA_H
#define CNOID_BODY_RANGE_CAMERA_H
 
#include "Camera.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT RangeCamera : public Camera
{
public:
    RangeCamera();
    RangeCamera(const RangeCamera& org, bool copyStateOnly = false);
 
    virtual const char* typeName() const override;
    void copyStateFrom(const RangeCamera& 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 void clearState() override;
 
    int numPoints() const { return points_->size(); }
 
    typedef std::vector<Vector3f> PointData;
 
    const PointData& points() const { return *points_; }
    const PointData& constPoints() const { return *points_; }
    PointData& points();
    PointData& newPoints();
 
    double maxDistance() const { return maxDistance_; }
    void setMaxDistance(double d) { maxDistance_ = d; }
 
    double minDistance() const { return minDistance_; }
    void setMinDistance(double d) { minDistance_ = d; }
            
    bool isOrganized() const { return isOrganized_; }
    void setOrganized(bool on);
 
    bool isDense() const { return isDense_; }
    void setDense(bool on) { isDense_ = on; }
 
    std::shared_ptr<const PointData> sharedPoints() const { return points_; }
 
    void setPoints(std::shared_ptr<PointData>& points);
 
    void clearPoints();
 
    bool readSpecifications(const Mapping* info);
    bool writeSpecifications(Mapping* info) const;
 
protected:
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    std::shared_ptr<std::vector<Vector3f>> points_;
    double minDistance_;
    double maxDistance_;
    bool isOrganized_;
    bool isDense_;
 
    void copyRangeCameraStateFrom(const RangeCamera& other);    
};
 
typedef ref_ptr<RangeCamera> RangeCameraPtr;
 
}
 
#endif