ZMPSeq.h

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#ifndef CNOID_BODY_ZMP_SEQ_H
#define CNOID_BODY_ZMP_SEQ_H
 
#include <cnoid/Vector3Seq>
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT ZMPSeq : public Vector3Seq
{
public:
    typedef Vector3Seq BaseSeqType;
    
    static const std::string& key();
 
    ZMPSeq(int nFrames = 0);
    ZMPSeq(const ZMPSeq& org);
    ZMPSeq(const Vector3Seq& org);
 
    virtual AbstractSeq& operator=(const AbstractSeq& rhs) override;
    ZMPSeq& operator=(const ZMPSeq& rhs);
    virtual std::shared_ptr<AbstractSeq> cloneSeq() const override;
 
    bool isRootRelative() const { return isRootRelative_; }
    void setRootRelative(bool on);
 
protected:
    virtual bool doReadSeq(const Mapping* archive, std::ostream& os) override;
    virtual bool doWriteSeq(YAMLWriter& writer, std::function<void()> additionalPartCallback) override;
 
private:
    bool isRootRelative_;
};
 
class BodyMotion;
 
CNOID_EXPORT std::shared_ptr<ZMPSeq> getZMPSeq(const BodyMotion& motion);
CNOID_EXPORT std::shared_ptr<ZMPSeq> getOrCreateZMPSeq(BodyMotion& motion);
CNOID_EXPORT void clearZMPSeq(BodyMotion& motion);
CNOID_EXPORT bool makeRootRelative(ZMPSeq& zmpseq, BodyMotion& motion, bool on);
 
}
 
#endif