mtsOSGManipulator.h

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/*
  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 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 _mtsOSGManipulator_h
#define _mtsOSGManipulator_h

#include <sawOpenSceneGraph/mtsOSGManipulatorTask.h>
#include <sawOpenSceneGraph/osaOSGManipulator.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>

class mtsOSGManipulator : public mtsOSGManipulatorTask {

 public:

  enum InputType{ PROVIDE_INPUT, REQUIRE_INPUT };

  mtsOSGManipulator( const std::string& name,
             double period,
             osaCPUMask cpumask,
             int priority,
             const std::vector<std::string>& models,
             osaOSGWorld* world,
             const vctFrame4x4<double>& Rtw0,
             const std::string& robfilename,
             const std::string& basemodel,
             mtsOSGManipulatorTask::InputType inputtype =
             mtsOSGManipulatorTask::PROVIDE_INPUT ):
    mtsOSGManipulatorTask( name,
               period, 
               new osaOSGManipulator( models,
                          world,
                          Rtw0,
                          robfilename,
                          basemodel ),
               cpumask, 
               priority,
               inputtype ){}
  
  // main constructor
  mtsOSGManipulator( const std::string& name,
             double period,
             osaCPUMask cpumask,
             int priority,
             const std::vector<std::string>& models,
             osaOSGWorld* world,
             const vctFrm3& Rtw0,
             const std::string& robfilename,
             const std::string& basemodel,
             mtsOSGManipulatorTask::InputType inputtype =
             mtsOSGManipulatorTask::PROVIDE_INPUT ):

    mtsOSGManipulatorTask( name, 
               period, 
               new osaOSGManipulator( models,
                          world,
                          Rtw0,
                          robfilename,
                          basemodel ),
               cpumask, 
               priority,
               inputtype ){}
};

#endif