tgModel.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_MODEL_H
#define TG_MODEL_H

// This application
#include "tgCast.h"
#include "tgTaggable.h"
#include "tgTagSearch.h"
#include "tgSenseable.h"
// The C++ Standard Library
#include <iostream>
#include <vector>

// Forward declarations
class tgModelVisitor;
class tgWorld;
class abstractMarker;

class tgModel : public tgTaggable, public tgSenseable
{
public: 

    tgModel();

    tgModel(const tgTags& tags);

    virtual ~tgModel();
    
    virtual void setup(tgWorld& world);
    
    virtual void teardown();

    virtual void step(double dt);

    virtual void onVisit(const tgModelVisitor& r) const;

    void addChild(tgModel* pChild);
                
    virtual std::string toString(std::string prefix = "") const;
                
    template <typename T>
    std::vector<T*> find(const tgTagSearch& tagSearch)
    {
        return tgCast::find<tgModel, T>(tagSearch, getDescendants());
    }
                
    template <typename T>
    std::vector<T*> find(const std::string& tagSearch)
    {
        return tgCast::find<tgModel, T>(tgTagSearch(tagSearch), getDescendants());
    }

    std::vector<tgModel*> getDescendants() const;

    const std::vector<abstractMarker>& getMarkers() const;

    void addMarker(abstractMarker a);

    virtual std::vector<tgSenseable*> getSenseableDescendants() const;

private:

    bool invariant() const;

private:

    std::vector<tgModel*> m_children;

    std::vector<abstractMarker> m_markers;

};

std::ostream&
operator<<(std::ostream& os, const tgModel& obj);
#endif