WorldLogFileItem.h

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#ifndef CNOID_BODY_PLUGIN_WORLD_LOG_FILE_ITEM_H
#define CNOID_BODY_PLUGIN_WORLD_LOG_FILE_ITEM_H
 
#include <cnoid/Item>
#include "exportdecl.h"
 
namespace cnoid {
 
class SE3;
class DeviceState;
 
class CNOID_EXPORT WorldLogFileItem : public Item
{
public:
    static void initializeClass(ExtensionManager* ext);
 
    WorldLogFileItem();
    WorldLogFileItem(const WorldLogFileItem& org);
    ~WorldLogFileItem();
 
    bool setLogFile(const std::string& filename);
    const std::string& logFile() const;
 
    void setTimeStampSuffixEnabled(bool on);
    bool isTimeStampSuffixEnabled() const;
 
    void setRecordingFrameRate(double rate);
    double recordingFrameRate() const;
 
    void clearOutput();
    void beginHeaderOutput();
    int outputBodyHeader(const std::string& name);
    void endHeaderOutput();
    void beginFrameOutput(double time);
    void beginBodyStateOutput();
    void outputLinkPositions(SE3* positions, int size);
    void outputJointPositions(double* values, int size);
    void beginDeviceStateOutput();
    void outputDeviceState(DeviceState* state);
    void endDeviceStateOutput();
    void endBodyStateOutput();
    void endFrameOutput();
 
    int numBodies() const;
    const std::string& bodyName(int bodyIndex) const;
 
    bool recallStateAtTime(double time);
    void invalidateLastStateConsistency();
 
    virtual void notifyUpdate() override;
 
protected:
    virtual Item* doDuplicate() const override;
    virtual void onTreePathChanged() override;
    virtual void doPutProperties(PutPropertyFunction& putProperty) override;
    virtual bool store(Archive& archive) override;
    virtual bool restore(const Archive& archive) override;
 
private:
    class Impl;
    Impl* impl;
};
 
typedef ref_ptr<WorldLogFileItem> WorldLogFileItemPtr;
 
}
 
#endif