Choreonoid  1.5
RangeCamera.h
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1 
6 #ifndef CNOID_BODY_RANGE_CAMERA_H
7 #define CNOID_BODY_RANGE_CAMERA_H
8 
9 #include "Camera.h"
10 #include "exportdecl.h"
11 
12 namespace cnoid {
13 
15 {
16 public:
17  RangeCamera();
18  RangeCamera(const RangeCamera& org, bool copyStateOnly = false);
19 
20  virtual const char* typeName();
21  void copyStateFrom(const RangeCamera& other);
22  virtual void copyStateFrom(const DeviceState& other);
23  virtual DeviceState* cloneState() const;
24  virtual Device* clone() const;
25  virtual void forEachActualType(boost::function<bool(const std::type_info& type)> func);
26  virtual void clearState();
27 
28  int numPoints() const { return points_->size(); }
29 
30  typedef std::vector<Vector3f> PointData;
31 
32  const PointData& points() const { return *points_; }
33  const PointData& constPoints() const { return *points_; }
34  PointData& points();
35  PointData& newPoints();
36 
37  bool isOrganized() const { return isOrganized_; }
38  void setOrganized(bool on);
39 
40  boost::shared_ptr<const PointData> sharedPoints() const { return points_; }
41 
47  void setPoints(boost::shared_ptr<PointData>& points);
48 
49 private:
50  boost::shared_ptr< std::vector<Vector3f> > points_;
51  bool isOrganized_;
52 
53  RangeCamera(const RangeCamera& org, int x);
54  void copyRangeCameraStateFrom(const RangeCamera& other);
55 };
56 
58 };
59 
60 #endif
const PointData & constPoints() const
Definition: RangeCamera.h:33
boost::shared_ptr< const PointData > sharedPoints() const
Definition: RangeCamera.h:40
Definition: Camera.h:16
ref_ptr< RangeCamera > RangeCameraPtr
Definition: RangeCamera.h:57
Definition: Referenced.h:128
int numPoints() const
Definition: RangeCamera.h:28
Definition: RangeCamera.h:14
Definition: Device.h:18
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
bool isOrganized() const
Definition: RangeCamera.h:37
std::vector< Vector3f > PointData
Definition: RangeCamera.h:30
const PointData & points() const
Definition: RangeCamera.h:32
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: Device.h:52