locationStateComponent.h

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/*******************************************************************************
** Copyright (c) 2021 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfStateData/stateComponent.h"
#include "vrfStateData/doubleBufferedDataStorage.h"
#include "vrfStateData/rwVrfKinematicState.h"
#include <vrfutil/rwUUID.h>
#include <matrix/vlVector.h>
#include <matrix/vlDcm.h>
#include <matrix/vlTaitBryan.h>
#include <vlpi/disEnums.h>
#include <vlpi/thresholder.h>

#include <boost/signals2.hpp>

namespace makVrf
{
   class DT_DLL_vrfStateData DtLocationStateComponent : public DtFrameStateInterface
   {
   public:
      DtLocationStateComponent(DtStateData* sd);

      static DtStateComponent::StateComponentType ComponentType() { return DtStateComponent::LocationStateComponent; };
      static const char* StringType() { return "LocationStateComponent"; }

      UNDEFINED_RETURNREF_ACCESSOR_MUTATOR(DtUUID, hostGlobalId, HostGlobalId)
      UNDEFINED_RETURNREF_CONST_ACCESSOR(DtRwVrfKinematicState, kinematicState)
      UNDEFINED_RETURNVALUE_ACCESSOR(bool, locationChanged)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(DtVector, location, Location)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(DtTaitBryan, orientation, Orientation)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, worldPosition)
      UNDEFINED_RETURNREF_ACCESSOR(DtTaitBryan, topographicOrientation)
      UNDEFINED_RETURNREF_ACCESSOR(DtTaitBryan, worldOrientation)
      UNDEFINED_RETURNREF_ACCESSOR(DtDcm, worldOrientationMatrix)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, localPosition)
      UNDEFINED_RETURNREF_ACCESSOR(DtTaitBryan, localOrientation)
      UNDEFINED_RETURNREF_ACCESSOR(DtDcm, localOrientationMatrix)
      UNDEFINED_RETURNREF_ACCESSOR(DtTaitBryan, localOrientationWrtDatabase)
      UNDEFINED_RETURNVALUE_ACCESSOR(double, roll)
      UNDEFINED_RETURNVALUE_ACCESSOR(double, pitch)
      UNDEFINED_RETURNVALUE_ACCESSOR(double, heading)
      UNDEFINED_RETURNREF_ACCESSOR(DtDcm, parentOrientationMatrix)
      UNDEFINED_RETURNREF_ACCESSOR(DtTaitBryan, parentOrientation)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, relativePosition)
      UNDEFINED_RETURNREF_ACCESSOR(DtVector, parentPosition)
      UNDEFINED_RETURNVALUE_ACCESSOR(bool, localPositionIsValid)
      UNDEFINED_RETURNVALUE_ACCESSOR_MUTATOR(bool, frozen, Frozen)
      UNDEFINED_METHOD(void, setLocalOrientationMatrix, const DtDcm&)
      UNDEFINED_METHOD(void, setLocalOrientation, const DtTaitBryan&)
      UNDEFINED_METHOD(void, setLocalOrientationWrtDatabase, const DtTaitBryan&)
      UNDEFINED_METHOD(void, setParentPosition, const DtVector&)
      UNDEFINED_METHOD(void, setParentOrientation, const DtTaitBryan&)
      UNDEFINED_METHOD(void, setLocalPosition, const DtVector&)
      UNDEFINED_METHOD(void, setWorldPosition, const DtVector&)
      UNDEFINED_METHOD(void, setWorldOrientation, const DtTaitBryan&)
      UNDEFINED_METHOD(void, setWorldOrientationMatrix, const DtDcm&)
      UNDEFINED_METHOD(void, setKinematicState, const DtRwVrfKinematicState&)

      mutable boost::signals2::signal<void (const DtFrameStateInterface*, const DtUUID& oldUUID, const DtUUID& newUUID)> signal_hostChanged;
   };
}