articulatedPartStateRepository.h

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/*******************************************************************************
** Copyright (c) 2019 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vrfobjcore/vrfobjcoreDefines.h>
#include <vrfutil/rwTemplatedMap.h>
#include <readerWriter/rwVector.h>
#include <readerWriter/rwReal.h>
#include <vrfobjparam/rwArtPartState.h>

class DtVrfObject;

class DT_DLL_vrfobjcore DtArticulatedPartStateRepository : public DtRwArtPartState
{
public:

   class DtArtPartMap : public DtRwTemplatedMapPtr<DtRwInt, DtArticulatedPartStateRepository>
   {
   public:

      DtArtPartMap() : DtRwTemplatedMapPtr() {};
      DtArtPartMap(const DtString& name,
         DtReaderWriterRegistry* parentRegistry = NULL,
         const DtString& keyName = "key", const DtString& valueName = "value", const DtString& elementName = "item")
         : DtRwTemplatedMapPtr(name, parentRegistry, keyName, valueName, elementName) {};
      DtArtPartMap(const DtSymbolString& name,
         DtReaderWriterRegistry* parentRegistry = NULL,
         const DtString& keyName = "key", const DtString& valueName = "value", const DtString& elementName = "item")
         : DtRwTemplatedMapPtr(name, parentRegistry, keyName, valueName, elementName) {};
      DtArtPartMap(const DtString& name, const DtRwTemplatedMapPtr& orig,
         DtReaderWriterRegistry* parentRegistry = NULL)
         : DtRwTemplatedMapPtr(name, orig, parentRegistry) {};
      DtArtPartMap(const DtSymbolString& name, const DtRwTemplatedMapPtr& orig,
         DtReaderWriterRegistry* parentRegistry = NULL)
         : DtRwTemplatedMapPtr(name, orig, parentRegistry) {};
      DtArtPartMap(const DtRwTemplatedMapPtr& orig,
         DtReaderWriterRegistry* parentRegistry = NULL)
         : DtRwTemplatedMapPtr(orig, parentRegistry) {};

      virtual ~DtArtPartMap() {};

      virtual void postGetSelf();
   };
   
   DtArticulatedPartStateRepository(const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0);

   DtArticulatedPartStateRepository(const DtSymbolString& rwName,
      DtReaderWriterRegistry*  parentRegistry = 0);

   DtArticulatedPartStateRepository(const DtArticulatedPartStateRepository& orig,
      const DtString& rwName = DtString::nullString(),
      DtReaderWriterRegistry*  parentRegistry = 0);

   virtual void attachTo(DtVrfObject* parentObj);

   virtual void attachTo(DtVrfObject* parentObj, DtArticulatedPartStateRepository* parentPart);

   virtual DtArtPartType parentPartType() const;


   virtual DtArticulatedPartStateRepository* parentPart();
   virtual const DtArticulatedPartStateRepository* parentPart() const;


   virtual DtVrfObject* parentObject();
   virtual const DtVrfObject* parentObject() const;

   const DtArticulatedPartStateRepository& operator=(
      const DtArticulatedPartStateRepository& orig);

   virtual ~DtArticulatedPartStateRepository();

   virtual DtArticulatedPartStateRepository* clone(
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0) const;

   virtual bool mergeSpecifiedParameters(const DtArticulatedPartStateRepository& other,
      MergeRule rule = AllSpecifiedValues);

   virtual DtString type() const;


   virtual DtArtPartType partType() const;
   virtual void setPartType(DtArtPartType type);

   virtual DtVector attachPointWithRespectToObject() const;

   virtual DtVector bodyPosition() const;

   virtual DtVector localPosition() const;

   virtual DtVector endPointlocalPosition() const;

   virtual DtVector worldPosition() const;

   virtual DtTaitBryan bodyOrientation() const;

   virtual DtDcm localOrientationMatrix() const;
   

   virtual const DtArtPartMap& parts() const;
   virtual DtArtPartMap& parts();

   virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType);

   virtual DtArticulatedPartStateRepository* attachPart(DtArtPartType partType, 
      const DtArticulatedPartStateRepository& partState);


   DtReal azimuthNeutralOffset() const;
   void setAzimuthNeutralOffset(DtReal offset, bool isSpecified = true);


   DtReal elevationNeutralOffset() const;
   void setElevationNeutralOffset(DtReal offset, bool isSpecified = true);

   virtual void addParameterType(DtArtParamType paramType);

   virtual void clearParameterTypes();

   virtual bool hasParameterType(DtArtParamType paramType) const;

   const DtRwTemplatedIntList& parameterTypes() const;

   virtual void mergeInPartAttachments(const DtArticulatedPartStateRepository& other);

   virtual void setAllValuesUnspecified();

   virtual void prePutSelf();

protected:

   void preventConfigValueReadAndWrite();

   virtual void copyParts(const DtArticulatedPartStateRepository& orig);

   virtual void setParentsForAllParts();

protected:

   DtRwInt myPartType;

   DtArtPartMap myParts;

   DtVrfObject* myParentObject;
   DtArticulatedPartStateRepository* myParentPart;

   DtRwReal myAzimuthNeutralOffset;
   DtRwReal myElevationNeutralOffset;

   DtRwTemplatedIntList myParameterTypes;
};

typedef DtArticulatedPartStateRepository::DtArtPartMap DtArtPartMap;