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JointT.cc
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49 
50 #define JOINTT_C
51 
52 #include "JointT.hh"
53 #include <cassert>
54 #include <algorithm>
55 
56 //-----------------------------------------------------------------------------------------------------
57 
61 template <class PointT>
62 JointT<PointT>::JointT(Joint *_parent, std::string _name) :
63  id_(0),
64  selected_(false),
65  parent_(_parent),
66  name_(_name)
67 {
68 }
69 
70 //-----------------------------------------------------------------------------------------------------
71 
78 template<typename PointT>
79 JointT<PointT>::JointT(const Joint &_other) :
80  id_(_other.id_),
81  selected_(_other.selected_),
82  parent_(0),
83  name_(_other.name_)
84 {
85 }
86 
87 //-----------------------------------------------------------------------------------------------------
88 
89 template <class PointT>
91 {
92 }
93 
94 //-----------------------------------------------------------------------------------------------------
95 
102 template <class PointT>
103 inline unsigned int JointT<PointT>::id()
104 {
105  return id_;
106 }
107 
108 //-----------------------------------------------------------------------------------------------------
109 
110 template <class PointT>
111 inline void JointT<PointT>::setId(unsigned int _id)
112 {
113  id_ = _id;
114 }
115 
116 //-----------------------------------------------------------------------------------------------------
117 
127 template <class PointT>
128 inline void JointT<PointT>::setParent(Joint *_newParent, SkeletonT<PointT> &_skeleton)
129 {
130  // Check for cycles and do not continue operation if cycles would be created! (if this joint is a parent of newParent this will be the case)
131  Joint *parent = _newParent;
132 
133  while (parent != 0){
134  if (parent == this) {
135  std::cerr << "Illegal setParent operation (joint " << _newParent->id() << " cannot be parent of " << this->id() << " because this would lead to a cycle. Cancelling." << std::endl;
136  return;
137  }
138  parent = parent->parent();
139  }
140 
141  if(parent_ != 0)
142  if(std::remove(parent_->children_.begin(), parent_->children_.end(), this) != parent_->children_.end()) // remove from the last parent
143  parent_->children_.resize(parent_->children_.size() - 1);
144 
145  parent_ = _newParent;
146 
147  if ( _newParent != 0)
148  _newParent->children_.push_back(this);
149 
150  _skeleton.updateFromGlobal(id_);
151 }
152 
153 //-----------------------------------------------------------------------------------------------------
154 
161 template <class PointT>
163 {
164  return parent_;
165 }
166 
167 //-----------------------------------------------------------------------------------------------------
168 
169 template <class PointT>
170 inline bool JointT<PointT>::isRoot()
171 {
172  return parent_ == NULL;
173 }
174 
175 //-----------------------------------------------------------------------------------------------------
176 
180 template <class PointT>
181 inline typename JointT<PointT>::ChildIter JointT<PointT>::begin()
182 {
183  return children_.begin();
184 }
185 
186 //-----------------------------------------------------------------------------------------------------
187 
191 template <class PointT>
192 inline typename JointT<PointT>::ChildIter JointT<PointT>::end()
193 {
194  return children_.end();
195 }
196 
197 //-----------------------------------------------------------------------------------------------------
198 
202 template<typename PointT>
203 inline size_t JointT<PointT>::size()
204 {
205  return children_.size();
206 }
207 
208 //-----------------------------------------------------------------------------------------------------
209 
216 template<typename PointT>
217 inline JointT<PointT> *JointT<PointT>::child(size_t _index)
218 {
219  assert( _index < children_.size() );
220 
221  if(_index >= children_.size())
222  return 0;
223  return children_[_index];
224 }
225 
226 //-----------------------------------------------------------------------------------------------------
227 
232 template <class PointT>
234 {
235  return selected_;
236 }
237 
238 //-----------------------------------------------------------------------------------------------------
239 
244 template <class PointT>
245 inline void JointT<PointT>::setSelected(bool _selected)
246 {
247  selected_ = _selected;
248 }
249 
250 //-----------------------------------------------------------------------------------------------------
251 
252 template<typename PointT>
253 inline std::string JointT<PointT>::name() {
254  return name_;
255 }
256 
257 //-----------------------------------------------------------------------------------------------------
258 
259 template<typename PointT>
260 inline void JointT<PointT>::setName(std::string _name) {
261  name_ = _name;
262 }
263 
264 //-----------------------------------------------------------------------------------------------------
265 
JointT(const Joint &_other)
Constructor.
Definition: JointT.cc:79
ChildIter begin()
Returns an iterator on the joints children.
Definition: JointT.cc:181
std::string name()
Access the name of the joint.
Definition: JointT.cc:253
Joint * child(size_t _index)
Returns the child joint with the given index.
Definition: JointT.cc:217
std::vector< Joint * > children_
The joints children, use the JointT::getChild method to access them.
Definition: JointT.hh:129
~JointT()
Destructor.
Definition: JointT.cc:90
ChildIter end()
Returns the end iterator for the joints children.
Definition: JointT.cc:192
bool selected()
Returns the joint's selection state.
Definition: JointT.cc:233
Joint * parent()
Returns the parent joint.
Definition: JointT.cc:162
void updateFromGlobal(unsigned int _idJoint)
update the structure when parent changes for a joint
Definition: SkeletonT.cc:1006
unsigned int id()
returns the joint id
Definition: JointT.cc:103
void setSelected(bool _selected)
Set the joint's selction state.
Definition: JointT.cc:245
size_t size()
Returns the number of children.
Definition: JointT.cc:203
Represents a single joint in the skeleton.
Definition: JointT.hh:66
void setParent(Joint *_newParent, SkeletonT< PointT > &_skeleton)
access parent of the joint
Definition: JointT.cc:128