Entity.hpp

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#ifndef DART_DYNAMICS_ENTITY_HPP_
#define DART_DYNAMICS_ENTITY_HPP_
 
#include <Eigen/Core>
#include <string>
#include <vector>
 
#include "dart/common/Subject.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Composite.hpp"
#include "dart/dynamics/Shape.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class Frame;
 
class Entity : public virtual common::Subject
{
public:
  friend class Frame;
 
  using EntitySignal = common::Signal<void(const Entity*)>;
  using FrameChangedSignal
      = common::Signal<void(const Entity*,
                            const Frame* _oldFrame,
                            const Frame* _newFrame)>;
  using NameChangedSignal
      = common::Signal<void(const Entity*,
                            const std::string& _oldName,
                            const std::string& _newName)>;
 
  explicit Entity(Frame* _refFrame, bool _quiet);
 
  Entity();
 
  Entity(const Entity&) = delete;
 
  virtual ~Entity();
 
  virtual const std::string& setName(const std::string& _name) = 0;
 
  virtual const std::string& getName() const = 0;
 
  Frame* getParentFrame();
 
  const Frame* getParentFrame() const;
 
  bool descendsFrom(const Frame* _someFrame) const;
 
  bool isFrame() const;
 
  bool isQuiet() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyTransformUpdate();
 
  virtual void dirtyTransform();
 
  bool needsTransformUpdate() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyVelocityUpdate();
 
  virtual void dirtyVelocity();
 
  bool needsVelocityUpdate() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyAccelerationUpdate();
 
  virtual void dirtyAcceleration();
 
  bool needsAccelerationUpdate() const;
 
protected:
 
  enum ConstructFrameTag { ConstructFrame };
 
  explicit Entity(ConstructFrameTag);
 
  enum ConstructAbstractTag { ConstructAbstract };
 
  explicit Entity(ConstructAbstractTag);
 
  virtual void changeParentFrame(Frame* _newParentFrame);
 
protected:
 
  Frame* mParentFrame;
 
  mutable bool mNeedTransformUpdate;
  // TODO(JS): Rename this to mIsTransformDirty in DART 7
 
  mutable bool mNeedVelocityUpdate;
  // TODO(JS): Rename this to mIsVelocityDirty in DART 7
 
  mutable bool mNeedAccelerationUpdate;
  // TODO(JS): Rename this to mIsAccelerationDirty in DART 7
 
  FrameChangedSignal mFrameChangedSignal;
 
  NameChangedSignal mNameChangedSignal;
 
  EntitySignal mTransformUpdatedSignal;
 
  EntitySignal mVelocityChangedSignal;
 
  EntitySignal mAccelerationChangedSignal;
 
public:
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  common::SlotRegister<FrameChangedSignal> onFrameChanged;
 
  common::SlotRegister<NameChangedSignal> onNameChanged;
 
  common::SlotRegister<EntitySignal> onTransformUpdated;
 
  common::SlotRegister<EntitySignal> onVelocityChanged;
 
  common::SlotRegister<EntitySignal> onAccelerationChanged;
 
private:
  const bool mAmQuiet;
 
  bool mAmFrame;
};
 
class Detachable : public virtual Entity
{
public:
  explicit Detachable(Frame* _refFrame, bool _quiet);
 
  virtual void setParentFrame(Frame* _newParentFrame);
 
protected:
  Detachable();
 
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_ENTITY_HPP_