Entity.hpp

/*
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#ifndef DART_DYNAMICS_ENTITY_HPP_
#define DART_DYNAMICS_ENTITY_HPP_

#include <string>
#include <vector>
#include <Eigen/Core>

#include "dart/common/Composite.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/dynamics/Shape.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class Frame;

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
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;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Detachable : public virtual Entity
{
public:
  explicit Detachable(Frame* _refFrame, bool _quiet);

  virtual void setParentFrame(Frame* _newParentFrame);

protected:
  Detachable();
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_ENTITY_HPP_