Polygons.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/plot/types.h>
 
namespace mc_rtc
{
 
namespace gui
{
 
namespace plot
{
 
namespace impl
{
 
template<typename GetT>
struct Polygons
{
  static constexpr Type type = Type::Polygons;
 
  Polygons(const std::string & name, GetT get_fn, Side side) : name_(name), get_fn_(get_fn), side_(side)
  {
    static_assert(details::CheckReturnType<GetT, std::vector<PolygonDescription>>::value,
                  "Polygons element callback must return a vector of PolygonDescription");
  }
 
  void write(mc_rtc::MessagePackBuilder & builder) const
  {
    builder.start_array(4);
    builder.write(static_cast<uint64_t>(type));
    builder.write(name_);
    const auto & polygons = get_fn_();
    builder.start_array(polygons.size());
    for(const auto & poly : polygons) { poly.write(builder); }
    builder.finish_array();
    builder.write(static_cast<uint64_t>(side_));
    builder.finish_array();
  }
 
  void update() const {}
 
  Polygons & side(Side side)
  {
    side_ = side;
    return *this;
  }
 
private:
  std::string name_;
  GetT get_fn_;
  Side side_;
};
 
} // namespace impl
 
template<typename GetT>
impl::Polygons<GetT> Polygons(const std::string & name, GetT get_fn, Side side = Side::Left)
{
  return impl::Polygons<GetT>(name, get_fn, side);
}
 
} // namespace plot
 
} // namespace gui
 
} // namespace mc_rtc