ObjectContainer.h

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/**********************************************************************************************/
#ifndef OBJECTCONTAINER_H
#define OBJECTCONTAINER_H
#include "lo/ServiceLocatedObject.h"


namespace jlo
{

/********************************************************************/
class ObjectContainer : public ServiceLocatedObject
{
public:
  /********************************************************************/
  ObjectContainer (ServiceLocatedObject* locatedObject, double x , double y , double z ,
                   double roll , double pitch , double yaw ,
                   double sigmaX=0.0, double sigmaY=0.0 , double sigmaZ=0.0,
                   double sigmaRoll=0.0, double sigmaPitch=0.0 , double sigmaYaw=0.0) :
                ServiceLocatedObject(locatedObject,     x ,  y ,  z ,
                                     roll ,  pitch ,  yaw ,
                                     sigmaX,  sigmaY ,  sigmaZ,
                                     sigmaRoll,  sigmaPitch ,  sigmaYaw),
                m_semaStatic(true)
        {
            referenceCounter = 1;
        }


        /********************************************************************/
        ObjectContainer (ServiceLocatedObject* locatedObject, const Matrix &matrix , const Matrix &covariance) :
                ServiceLocatedObject(locatedObject, matrix, covariance),
                m_semaStatic(true)
        {
            referenceCounter = 1;
        }

/********************************************************************/
  virtual unsigned long GetLOType(){return LO_TYPE_PHYSICAL;}


/********************************************************************/
  virtual void AddAttachedObject(ServiceLocatedObject* lo);

/********************************************************************/
  virtual void RemoveAttachedObject(ServiceLocatedObject* lo);


/********************************************************************/
 virtual  void PropagateMovement(ServiceLocatedObject*(* copy)(ServiceLocatedObject*, ServiceLocatedObject*), unsigned long (*del)(ServiceLocatedObject*), void (*updated)(unsigned long), ServiceLocatedObject* parent_copy = NULL);
protected:
  virtual bool NeedCopy ();
  virtual void TellParentNeedCopy(){ m_needCopy++; m_relation->TellParentNeedCopy();}
  virtual void TellParentNeedNoCopy(){ if(m_needCopy > 0){ m_needCopy--; m_relation->TellParentNeedNoCopy();}}
      
public:


  std::vector<ServiceLocatedObject*> m_attachedLocatedObjectList;

  bool m_semaStatic;

protected:
        /********************************************************************/
        virtual ReturnMatrix Get ( );
        /********************************************************************/
        virtual ReturnMatrix GetInv ( ) ;

  virtual unsigned long Move (const Matrix &matrix, const Matrix& covMatrix);
};
}
#endif