space_object.h

Go to the documentation of this file.

#ifndef MF_SPACE_OBJECT_H_
#define MF_SPACE_OBJECT_H_

#include "geometry/pose.h"
#include "geometry/angle.h"
#include "eigen.h"
#include <set>
#include <string>
#include <mutex>

namespace mf {

struct bounding_box;


class space_object {
private:
    space_object* parent_;
    std::set<space_object*> children_;
    pose pose_;
    
    void transform_(const Eigen_affine3&);
    
    void detach_from_parent_();
    void detach_from_children_();
    void attach_to_parent_();

protected:
    virtual void do_update_pose() { }
        
public:
    explicit space_object(const pose& = pose());
    space_object(const pose&, space_object& par);

    space_object(const space_object&);
    space_object& operator=(const space_object&);
    virtual ~space_object();

    bool has_parent_space_object() const;
    const space_object& parent_space_object() const;
    space_object& parent_space_object();
    
    const pose& relative_pose() const;
    pose absolute_pose() const;
    
    void set_relative_pose(const pose&);
    void set_no_relative_pose() { set_relative_pose(pose()); }
    
    Eigen_affine3 transformation_from(const space_object&) const;
    Eigen_affine3 transformation_to(const space_object&) const;
    
    void set_parent(space_object&, const pose& new_relative_pose = pose());
    void set_no_parent(const pose& new_pose = pose());
    
    void make_sibling(const space_object&, const pose& new_pose = pose());
                
    template<typename Transformation>
    void transform(const Transformation& t) {
        transform_(Eigen_affine3(t));
    }
    
    template<typename Transformation>
    void transform(const Transformation& rt, const space_object& relative_to) {
        Eigen_affine3 btw = relative_to.absolute_pose().transformation_to_world();
        Eigen_affine3 t = btw * rt * btw.inverse();
        transform_(t);
    }
    
    void move(const Eigen_vec3& t) { transform(Eigen_translation3(t)); }
    void move(float x, float y, float z) { move(Eigen_vec3(x, y, z)); }
    void move_x(float x) { move(x, 0, 0); }
    void move_y(float y) { move(0, y, 0); }
    void move_z(float z) { move(0, 0, z); }
    
    void rotate_x_axis(angle a, const Eigen_vec3& c = Eigen_vec3::Zero());
    void rotate_y_axis(angle a, const Eigen_vec3& c = Eigen_vec3::Zero());
    void rotate_z_axis(angle a, const Eigen_vec3& c = Eigen_vec3::Zero());
    
    void look_at(const space_object&);
    
    virtual bounding_box box() const;
};


inline Eigen_affine3 pose_transformation(const space_object& from, const space_object& to) {
    return from.transformation_to(to);
}



}

#endif