Node.hpp

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#ifndef DART_DYNAMICS_NODE_HPP_
#define DART_DYNAMICS_NODE_HPP_
 
#include <memory>
 
#include "dart/common/Cloneable.hpp"
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/VersionCounter.hpp"
 
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class BodyNode;
class Node;
 
//==============================================================================
class NodeDestructor final
{
public:
  NodeDestructor(Node* _node);
 
  NodeDestructor(const NodeDestructor& _other) = delete;
 
  ~NodeDestructor();
 
  Node* getNode() const;
 
private:
  Node* mNode;
};
 
//==============================================================================
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Node : public virtual common::Subject,
             public virtual common::VersionCounter
{
public:
  friend class BodyNode;
  friend class Skeleton;
  template <class>
  friend class AccessoryNode;
  template <class, class>
  friend class TemplateNodePtr;
  template <class, class>
  friend class TemplateWeakNodePtr;
 
  class State : public common::Cloneable<State>
  {
  };
 
  template <class Mixin>
  using MakeState = common::MakeCloneable<State, Mixin>;
 
  class Properties : public common::Cloneable<Properties>
  {
  };
 
  template <class Mixin>
  using MakeProperties = common::MakeCloneable<Properties, Mixin>;
 
  virtual ~Node() = default;
 
  virtual const std::string& setName(const std::string& newName) = 0;
 
  virtual const std::string& getName() const = 0;
 
  virtual void setNodeState(const State& otherState);
 
  virtual std::unique_ptr<State> getNodeState() const;
 
  virtual void copyNodeStateTo(std::unique_ptr<State>& outputState) const;
 
  virtual void setNodeProperties(const Properties& properties);
 
  virtual std::unique_ptr<Properties> getNodeProperties() const;
 
  virtual void copyNodePropertiesTo(
      std::unique_ptr<Properties>& outputProperties) const;
 
  BodyNodePtr getBodyNodePtr();
 
  ConstBodyNodePtr getBodyNodePtr() const;
 
  bool isRemoved() const;
 
  virtual std::shared_ptr<Skeleton> getSkeleton();
 
  virtual std::shared_ptr<const Skeleton> getSkeleton() const;
 
private:
  std::shared_ptr<NodeDestructor> getOrCreateDestructor();
 
protected:
  virtual Node* cloneNode(BodyNode* bn) const = 0;
 
  Node(BodyNode* _bn);
 
  std::string registerNameChange(const std::string& newName);
 
  void attach();
 
  void stageForRemoval();
 
  std::weak_ptr<NodeDestructor> mDestructor;
 
  BodyNode* mBodyNode;
 
  bool mAmAttached;
 
  std::size_t mIndexInBodyNode;
 
  std::size_t mIndexInSkeleton;
 
  std::size_t mIndexInTree;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
//==============================================================================
template <class NodeType>
class AccessoryNode
{
public:
  virtual ~AccessoryNode() = default;
 
  std::size_t getIndexInBodyNode() const;
 
  std::size_t getIndexInSkeleton() const;
 
  std::size_t getIndexInTree() const;
 
  std::size_t getTreeIndex() const;
 
  void remove();
 
  void reattach();
 
protected:
  AccessoryNode() = default;
};
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/Node.hpp"
 
#endif // DART_DYNAMICS_NODE_HPP_