Visual.h

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/*
 * Copyright 2015-2021 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/elements.h>
#include <mc_rtc/gui/types.h>
 
#include <mc_rbdyn/configuration_io.h>
#include "mc_rtc/MessagePackBuilder.h"
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetVisual, typename GetPos>
struct VisualImpl : public Element
{
  static constexpr auto type = Elements::Visual;
 
  VisualImpl(const std::string & name, GetVisual get_visual_fn, GetPos get_pos_fn)
  : Element(name), get_visual_fn_(get_visual_fn), get_pos_fn_(get_pos_fn)
  {
    static_assert(details::CheckReturnType<GetVisual, rbd::parsers::Visual>::value,
                  "Visual element visual callback must return an rbd::parsers::Visual");
    static_assert(details::CheckReturnType<GetPos, sva::PTransformd, Eigen::Vector3d>::value,
                  "Visual element position callback must return an sva::PTransformd or an Eigen::Vector3d");
  }
 
  VisualImpl() {}
 
  constexpr static size_t write_size() { return Element::write_size() + 2; }
 
  void write(mc_rtc::MessagePackBuilder & builder)
  {
    Element::write(builder);
    visual_.add("data", get_visual_fn_());
    builder.write(visual_("data"));
    builder.write(get_pos_fn_());
  }
 
private:
  GetVisual get_visual_fn_;
  GetPos get_pos_fn_;
  mc_rtc::Configuration visual_;
};
 
} // namespace details
 
template<typename GetVisual, typename GetPos>
auto Visual(const std::string & name, GetVisual get_visual_fn, GetPos get_pos_fn)
{
  return details::VisualImpl(name, get_visual_fn, get_pos_fn);
}
 
} // namespace mc_rtc::gui