Point3D.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/elements.h>
#include <mc_rtc/gui/types.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT, typename SetT = std::nullptr_t>
struct Point3DImpl : public CommonInputImpl<GetT, SetT>
{
  static constexpr auto type = Elements::Point3D;
 
  Point3DImpl(const std::string & name, const PointConfig & config, GetT get_fn, SetT set_fn = nullptr)
  : CommonInputImpl<GetT, SetT>(name, get_fn, set_fn), config_(config)
  {
    static_assert(details::CheckReturnType<GetT, Eigen::Vector3d>::value,
                  "Point3D element position callback must return an Eigen::Vector3d");
  }
 
  Point3DImpl() {}
 
  static constexpr size_t write_size()
  { return CommonInputImpl<GetT, SetT>::write_size() + 1 + PointConfig::write_size(); }
 
  void write(mc_rtc::MessagePackBuilder & builder)
  {
    CommonInputImpl<GetT, SetT>::write(builder);
    // True for read-only
    builder.write(std::is_same_v<SetT, std::nullptr_t>);
    config_.write(builder);
  }
 
private:
  PointConfig config_;
};
 
} // namespace details
 
template<typename GetT, std::enable_if_t<std::is_invocable_v<GetT>, int> = 0>
auto Point3D(const std::string & name, GetT get_fn)
{ return details::Point3DImpl(name, {}, get_fn); }
 
template<typename GetT, typename SetT>
auto Point3D(const std::string & name, GetT get_fn, SetT set_fn)
{ return details::Point3DImpl(name, {}, get_fn, set_fn); }
 
template<typename GetT, std::enable_if_t<std::is_invocable_v<GetT>, int> = 0>
auto Point3D(const std::string & name, const PointConfig & config, GetT get_fn)
{ return details::Point3DImpl(name, config, get_fn); }
 
template<typename GetT, typename SetT>
auto Point3D(const std::string & name, const PointConfig & config, GetT get_fn, SetT set_fn)
{ return details::Point3DImpl(name, config, get_fn, set_fn); }
 
template<typename T>
auto Point3DRO(const std::string & name, T && value)
{ return Point3D(name, details::read(std::forward<T>(value))); }
 
template<typename T>
auto Point3DRO(const std::string & name, const PointConfig & config, T && value)
{ return Point3D(name, config, details::read(std::forward<T>(value))); }
 
template<typename T, std::enable_if_t<!std::is_invocable_v<T>, int> = 0>
auto Point3D(const std::string & name, T & value)
{ return Point3D(name, details::read(value), details::write(value)); }
 
template<typename T, std::enable_if_t<!std::is_invocable_v<T>, int> = 0>
auto Point3D(const std::string & name, const PointConfig & config, T & value)
{ return Point3D(name, config, details::read(value), details::write(value)); }
 
} // namespace mc_rtc::gui