prmTransformationDynamic.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:   2008-03-03

  (C) Copyright 2007-2008 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 _prmTransformationDynamic_h
#define _prmTransformationDynamic_h

#include <cisstParameterTypes/prmTransformationBase.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>

// Always include last
#include <cisstParameterTypes/prmExport.h>


class CISST_EXPORT prmTransformationDynamic: public prmTransformationBase
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
    friend class prmTransformationManager;

 public:
    typedef mtsFunctionRead CommandType;

 protected:
    CommandType TransformationCommand;
    
 public:
    inline prmTransformationDynamic(void):
        prmTransformationBase(),
        TransformationCommand()
    {
    }
    
    inline prmTransformationDynamic(const std::string & name):
        prmTransformationBase(name),
        TransformationCommand()
    {
    }
    
    inline prmTransformationDynamic(const std::string & name,
                                    const CommandType & transformationCommand,
                                    prmTransformationBasePtr reference):
        prmTransformationBase(name),
        TransformationCommand(transformationCommand) 
    {
        this->SetReferenceFrame(reference);
    }

    ~prmTransformationDynamic(); 

    inline void SetTransformationCommand(const CommandType & transformationCommand) 
    {
        this->TransformationCommand = transformationCommand;
    }
    
    inline const CommandType & GetTransformationCommand(void) const 
    {
        return this->TransformationCommand;
    }
    
    inline vctFrm3 WRTReference(void) const 
    {
        prmPositionCartesianGet result;  //identity transform by default
        this->TransformationCommand(result);
        return result.Position();
    }

}; // prmTransformationDynamic


CMN_DECLARE_SERVICES_INSTANTIATION(prmTransformationDynamic);


#endif // _prmTransformationDynamic_h