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/*!
@file
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
#define CNOID_BODY_MODEL_NODE_SET_H_INCLUDED
#include <Eigen/StdVector>
#include <cnoid/EigenTypes>
#include <cnoid/VrmlNodes>
#include <boost/shared_ptr.hpp>
#include <boost/signals.hpp>
#include "exportdecl.h"
namespace cnoid {
class VrmlParser;
class JointNodeSet;
typedef boost::shared_ptr<JointNodeSet> JointNodeSetPtr;
class JointNodeSet
{
public:
typedef std::vector<Affine3, Eigen::aligned_allocator<Affine3> > Affine3Array;
VrmlProtoInstancePtr jointNode;
std::vector<JointNodeSetPtr> childJointNodeSets;
Affine3Array transforms;
std::vector<VrmlProtoInstancePtr> segmentNodes;
std::vector<VrmlProtoInstancePtr> sensorNodes;
std::vector<VrmlProtoInstancePtr> hwcNodes;
};
typedef std::vector<JointNodeSetPtr> JointNodeSetArray;
class ModelNodeSetImpl;
class CNOID_EXPORT ModelNodeSet
{
public:
ModelNodeSet();
virtual ~ModelNodeSet();
bool loadModelFile(const std::string& filename);
int numJointNodes();
VrmlProtoInstancePtr humanoidNode();
JointNodeSetPtr rootJointNodeSet();
/**
@if jp
読み込み進行状況のメッセージを出力するためのシグナル.
@note エラー発生時のメッセージはこのシグナルではなく例外によって処理される。
@endif
*/
boost::signal<void(const std::string& message)> sigMessage;
class Exception {
public:
Exception(const std::string& description) : description(description) { }
const char* what() const { return description.c_str(); }
private:
std::string description;
};
private:
ModelNodeSetImpl* impl;
};
typedef boost::shared_ptr<ModelNodeSet> ModelNodeSetPtr;
};
#endif
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