basic/kinematics/FrameManager.h

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#ifndef FrameManager_h
#define FrameManager_h 1

#ifdef _MSC_VER
#pragma warning( disable : 4786 )
#endif
#include "geometry\frame.h"
#include <set>
#include <vector>

class Matrix4x4;

class FrameManager 
{
  public:
      FrameManager ();
      FrameManager (const FrameManager& right);
      virtual ~FrameManager();

      //        this operation creates a new frame and returns an index
      //        to which frame this is in the overall frame manager.
      int AddFrame ();

      //        returns the total number of frames controlled by this
      //        frame manager
      unsigned int GetNumberOfFrames () const;

          //    allows access to the tool frame
          Matrix4x4 GetToolFrame( const int index ) const;

          // Marks a particular frame as a tool frame
          void MarkToolFrame( const int index );

      //        returns a specific frame
      Frame operator [] (const unsigned int index) const;

      //        check this frame, and all its parents to see if there is
      //        a path to the baseframe, frame 0.  THis prevents
      //        circular frame definitions and such.
      bool ValidateFrame (const unsigned int frame) const;

      //        returns a reference to a frame.  THis is a fast way to
      //        access the contents of a frame, but care must be taken
      //        because a pointer is returned, and this pointer should
      //        not be stored, because the memory it points to is
      //        controlled by the frame manager
      Frame* GetFrameRef (const unsigned int number);

      FrameManager& operator = (const FrameManager& right);

      //        returns the transformation matrix relating frame a, and b
      Matrix4x4 GetTransformRelative (const unsigned int frame, const unsigned int base) const;
          static Matrix4x4 GetTransformRelative (const Matrix4x4& frame, const Matrix4x4& base );

      //        returns the base frame of the frame in question.
      unsigned int BaseFrame (const unsigned int frame) const;

      //        Alters the base frame of the frame in question.
      void SetBaseFrame (const unsigned int frame, const unsigned int baseFrame);

      void Clear ();

      //        mark this frame, and all frames that depend on it as
      //        having changed, and the cached frames will need
      //        recomputing.
      void MarkFrameChanged (unsigned int frameNum);

      Frame GetFrame (const unsigned int frameNum) const;

      //        Returns the transformation between frame0 and this
      //        frame.  This is a highly optimized, caching operation.
      Matrix4x4 GetWorldFrame (const unsigned int frameNum) const;

      //        Marks all the frames in the frame manager as having
      //        changed.
      void MarkAllFramesChanged ();

    // Data Members for Associations

      std::vector<Frame> allFrames;
      mutable std::vector< Matrix4x4 > allWorldFrames;

    // Additional Public Declarations

  protected:
    // Additional Protected Declarations

  private:
    // Data Members for Class Attributes

      mutable std::vector< bool > worldFrameValid;
          std::set< int > m_ToolFrames;

    // Additional Private Declarations

  private:
    // Additional Implementation Declarations

};

// Class FrameManager 

#endif

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