prmPositionJointSet.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
Author(s):  Rajesh Kumar, Anton Deguet
Created on: 2008-03-12

(C) Copyright 2008 Johns Hopkins University (JHU), All Rights
Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _prmPositionJointSet_h
#define _prmPositionJointSet_h

// basic includes
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstParameterTypes/prmMotionBase.h>
#include <cisstParameterTypes/prmExport.h>

class CISST_EXPORT prmPositionJointSet: public prmMotionBase
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);


protected:


    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, Mask);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Goal);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Velocity);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Acceleration);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Deceleration);

public:

    typedef unsigned int size_type;
    typedef prmMotionBase BaseType;
    typedef prmPositionJointSet ThisType;

    inline prmPositionJointSet(){ }

    inline prmPositionJointSet(size_type size){ SetSize(size); }

    void SetSize(size_type size);

    prmPositionJointSet(const vctBoolVec & mask,
                        const vctDoubleVec & goal, 
                        const vctDoubleVec & velocity,
                        const vctDoubleVec & acceleration,
                        const vctDoubleVec & deceleration):
        MaskMember(mask),
        GoalMember(goal),
        VelocityMember(velocity),
        AccelerationMember(acceleration),
        DecelerationMember(deceleration)
    {}

    virtual ~prmPositionJointSet();

    void SerializeRaw(std::ostream & outputStream) const;

    void DeSerializeRaw(std::istream & inputStream);


}; // _prmPositionJointSet_h

CMN_DECLARE_SERVICES_INSTANTIATION(prmPositionJointSet);

#endif