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Viewing changes to COLLADASaxFrameworkLoader/include/COLLADASaxFWLKinematicsSceneCreator.h

  • Committer: Package Import Robot
  • Author(s): Matteo F. Vescovi
  • Date: 2015-05-14 17:23:27 UTC
  • Revision ID: package-import@ubuntu.com-20150514172327-f862u8envms01fra
Tags: upstream-0.1.0~20140703.ddf8f47+dfsg1
Import upstream version 0.1.0~20140703.ddf8f47+dfsg1

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COLLADASaxFrameworkLoader/include/COLLADASaxFWLKinematicsSceneCreator.h
 
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/*
 
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    Copyright (c) 2008-2009 NetAllied Systems GmbH
 
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    This file is part of COLLADASaxFrameworkLoader.
 
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    Licensed under the MIT Open Source License, 
 
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    for details please see LICENSE file or the website
 
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    http://www.opensource.org/licenses/mit-license.php
 
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*/
 
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#ifndef __COLLADASAXFWL_KINEMATICSSCENECREATOR_H__
 
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#define __COLLADASAXFWL_KINEMATICSSCENECREATOR_H__
 
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#include "COLLADASaxFWLPrerequisites.h"
 
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#include "COLLADAFWKinematicsModel.h"
 
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#include "COLLADAFWKinematicsController.h"
 
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#include <map>
 
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#include <stack>
 
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namespace COLLADAFW
 
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{
 
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        class KinematicsScene;
 
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        class KinematicsModel;
 
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}
 
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namespace COLLADASaxFWL
 
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{
 
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        class DocumentProcessor;
 
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        class KinematicsIntermediateData;
 
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        class KinematicsModel;
 
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        class KinematicLink;
 
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        class KinematicAttachment;
 
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        class KinematicsController;
 
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        class KinematicsInstanceKinematicsModel;
 
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        class KinematicsInstanceKinematicsScene;
 
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        class KinematicsScene;
 
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        class KinematicsBindJointAxis;
 
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        class AxisInfo;
 
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    /** Creates a kinematics scene from an intermediate kinematics data */
 
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        class KinematicsSceneCreator    
 
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        {
 
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        public:
 
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                typedef std::map<COLLADAFW::Joint*, size_t> JointIndexMap;
 
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                typedef std::stack<size_t> NumberStack;
 
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                typedef std::map<COLLADAFW::JointPrimitive*, COLLADAFW::JointPrimitive*> JointPrimitiveJointPrimitiveMap;
 
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                typedef COLLADABU::hash_map<KinematicsModel*, COLLADAFW::KinematicsModel*> KinematicsModelFWKinematicsModelMap;
 
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                typedef std::set<COLLADAFW::InstanceKinematicsScene::NodeLinkBinding> NodeLinkBindingSet;
 
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        private:
 
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                /** The kinematics scene we are about to create.*/
 
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                COLLADAFW::KinematicsScene* mKinematicsScene;
 
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                /** The file loader that has all the information about the kinematics scene.*/
 
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                DocumentProcessor* mDocumentProcessor;
 
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                /** The kinematics intermediate data th kinematics scene will be created from. It is 
 
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                provided by mFileLoader.*/
 
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                const KinematicsIntermediateData& mKinematicsIntermediateData;
 
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                /** Link number of the current link.*/
 
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                size_t mLargestLinkNumber;
 
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                /** Holds the link numbers of the current link and all of its parents.*/
 
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                NumberStack mLinkNumberStack;
 
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                /** Index of the next joint to be added to the current kinematics model.*/
 
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                size_t mLargestJointIndex;
 
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                /** Maps the joints in the intermediate data to their index in the current framework 
 
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                kinematics model.*/
 
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                JointIndexMap mJointIndexMap;
 
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                /** We use this to map the joints created during the parse proces to the final nodes in the kinematics model,
 
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                to point to the correct joint in the axis infos.
 
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                TODO: This solution is to simple for the general case. Requires a much better algo
 
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                */
 
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                JointPrimitiveJointPrimitiveMap mOriginalClonedJointPrimitiveMap;
 
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                /** Maps the intermediate kinematics model to the fw kinematics model.*/
 
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                KinematicsModelFWKinematicsModelMap mKinematicsModelFWKinematicsModelMap;
 
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                /** Set of all node link bindings. */
 
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                NodeLinkBindingSet mNodeLinkBindingSet;
 
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        public:
 
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        /** Constructor. */
 
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                KinematicsSceneCreator( DocumentProcessor* documentProcessor);
 
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        /** Destructor. */
 
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                virtual ~KinematicsSceneCreator();
 
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                COLLADAFW::KinematicsScene* createAndGetKinematicsScene();
 
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        private:
 
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        /** Disable default copy ctor. */
 
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                KinematicsSceneCreator( const KinematicsSceneCreator& pre );
 
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        /** Disable default assignment operator. */
 
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                const KinematicsSceneCreator& operator= ( const KinematicsSceneCreator& pre );
 
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                COLLADAFW::KinematicsModel* createFWKinematicsModel(KinematicsModel* kinematicsModel);
 
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                void createJointLinkConnections(const KinematicLink* link, COLLADAFW::KinematicsModel* fwKinematicsModel);
 
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                void createJointLinkConnections(const KinematicAttachment* attachment, size_t jointIndex, COLLADAFW::KinematicsModel* fwKinematicsModel);
 
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                COLLADAFW::KinematicsController* createFWKinematicsController(KinematicsController* kinematicsController);
 
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                COLLADAFW::InstanceKinematicsScene* createFWInstanceKinematicsScene(KinematicsInstanceKinematicsScene* instanceKinematicsScene);
 
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                COLLADAFW::AxisInfo createFWAxisInfo( const AxisInfo& axisInfo, bool& success );
 
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                COLLADAFW::UniqueId processInstanceKinematicsModel(const KinematicsInstanceKinematicsModel& instanceKinematicsModel);
 
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                bool resolveLink(KinematicsScene* kinematicsScene, 
 
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                                     KinematicsBindJointAxis* kinematicsBindJointAxis,
 
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                                                 size_t* linkNumber,
 
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                                                 COLLADAFW::KinematicsModel** kinModel);
 
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                size_t findLinkByJOintPrimitive(const COLLADAFW::KinematicsModel* fwKinModel, const COLLADAFW::JointPrimitive* jointPrimitive);
 
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        };
 
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} // namespace COLLADASAXFWL
 
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#endif // __COLLADASAXFWL_KINEMATICSSCENECREATOR_H__