Robot.h

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#pragma once
 
#include <ArmarXCore/core/PackagePath.h>
#include "ElementOps.h"
 
 
namespace armarx::viz
{
 
    class Robot : public ElementOps<Robot, data::ElementRobot>
    {
    public:
        using ElementOps::ElementOps;
 
        Robot& file(std::string const& project, std::string const& filename)
        {
            data_->project = project;
            data_->filename = filename;
 
            return *this;
        }
 
        Robot& file(const armarx::PackagePath& packagePath)
        {
            data_->project = packagePath.serialize().package;
            data_->filename = packagePath.serialize().package + "/" + packagePath.serialize().path;
 
            return *this;
        }
 
        Robot& useCollisionModel()
        {
            data_->drawStyle |= data::ModelDrawStyle::COLLISION;
 
            return *this;
        }
 
        Robot& useFullModel()
        {
            data_->drawStyle &= ~data::ModelDrawStyle::COLLISION;
 
            return *this;
        }
 
        Robot& overrideColor(Color c)
        {
            data_->drawStyle |= data::ModelDrawStyle::OVERRIDE_COLOR;
 
            return color(c);
        }
 
        Robot& useOriginalColor()
        {
            data_->drawStyle &= ~data::ModelDrawStyle::OVERRIDE_COLOR;
 
            return *this;
        }
 
        Robot& joint(std::string const& name, float value)
        {
            data_->jointValues[name] = value;
 
            return *this;
        }
 
        Robot& joints(std::map<std::string, float> const& values)
        {
            data_->jointValues = values;
 
            return *this;
        }
 
    };
 
}