mtsGenericObjectProxy.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):  Ankur Kapoor, Anton Deguet, Peter Kazanzides
  Created on: 2006-05-05
 
  (C) Copyright 2006-2025 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 _mtsGenericObjectProxy_h
#define _mtsGenericObjectProxy_h
 
#include <cisstCommon/cmnPortability.h>
#include <cisstCommon/cmnClassRegister.h>
#include <cisstCommon/cmnSerializer.h>
#include <cisstCommon/cmnDeSerializer.h>
#include <cisstCommon/cmnTypeTraits.h>
 
#include <cisstCommon/cmnDataFunctions.h>
#include <cisstCommon/cmnDataFunctionsString.h>
#include <cisstCommon/cmnDataFunctionsVector.h>
#include <cisstCommon/cmnDataFunctionsList.h>
 
#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstVector/vctDataFunctionsFixedSizeVector.h>
 
#include <cisstMultiTask/mtsForwardDeclarations.h>
#include <cisstMultiTask/mtsGenericObject.h>
 
// Always include last!
#include <cisstMultiTask/mtsExport.h>
 
typedef std::vector<std::string> stdStringVec;
typedef std::vector<double> stdDoubleVec;
typedef std::vector<char> stdCharVec;
typedef std::vector<vct3> stdVct3Vec;
 
typedef std::list<std::string> stdStringList;
 
// Forward declarations
template <class _elementType> class mtsGenericObjectProxyBase;
template <class _elementType> class mtsGenericObjectProxy;
template <class _elementType> class mtsGenericObjectProxyRef;
template <typename _elementType> class mtsGenericTypes;
 
template <typename _elementType, bool>
class cmnDataProxy
{
    // _elementType does not have cmnData<_elementType> static methods, so use the "old" way
public:
    static void CISST_DEPRECATED ToStream(std::ostream & outputStream, const _elementType & data) {
        outputStream << data;
    }
    static void CISST_DEPRECATED ToStreamRaw(std::ostream & outputStream, const char CMN_UNUSED(delimiter), const _elementType & data) {
        outputStream << data;
    }
    static bool CISST_DEPRECATED FromStreamRaw(std::istream & CMN_UNUSED(inputStream), const char CMN_UNUSED(delimiter), _elementType & CMN_UNUSED(data)) {
        // Could try the "stream in" operator
        return false;
    }
};
 
template <typename _elementType>
class cmnDataProxy<_elementType, true>
{
    // _elementType has the cmnData<_elementType> static methods
public:
    static void ToStream(std::ostream & outputStream, const _elementType & data) {
        outputStream << cmnData<_elementType>::HumanReadable(data);
    }
    static void ToStreamRaw(std::ostream & outputStream, const char delimiter, const _elementType & data) {
        cmnData<_elementType>::SerializeText(data, outputStream, delimiter);
    }
    static bool FromStreamRaw(std::istream & inputStream, const char delimiter, _elementType & data) {
        try {
            cmnDataDeSerializeTextDelimiter(inputStream, delimiter, "mtsGenericObjectProxy");
            cmnData<_elementType>::DeSerializeText(data, inputStream, delimiter);
        } catch (...) {
            return false;
        }
        if (inputStream.fail()) {
            inputStream.clear();
            return false;
        }
        return true;
    }
};
 
#ifndef SWIG
// Class services specialization for proxy objects.  We assume that we always want dynamic creation.
// The specialization is that if the dynamic_cast to the Proxy type fails, we also try to dynamic_cast
// to the ProxyRef type.
template <typename _elementType>
class cmnConditionalObjectFactoryCopy<true, mtsGenericObjectProxy<_elementType> > {
public:
    typedef mtsGenericObjectProxy<_elementType> value_type;
    typedef mtsGenericObjectProxyRef<_elementType> value_reftype;
    typedef value_type * pointer;
 
    inline static cmnGenericObject * Create(const cmnGenericObject & other) {
        const value_type * otherPointer = dynamic_cast<const value_type *>(&other);
        if (otherPointer)
            return new value_type(*otherPointer);
        const value_reftype * otherRefPointer = dynamic_cast<const value_reftype *>(&other);
        if (otherRefPointer)
            return new value_type(otherRefPointer->GetData());
        return 0;
    }
 
    inline static bool Create(cmnGenericObject * existing, const cmnGenericObject & other) {
        // If they already point to the same memory, just return
        if (existing == &other)
            return true;
        const value_type * otherPointer = dynamic_cast<const value_type *>(&other);
        if (otherPointer) {
            new(existing) value_type(*otherPointer);
            return true;
        }
        const value_reftype * otherRefPointer = dynamic_cast<const value_reftype *>(&other);
        if (otherRefPointer) {
            new(existing) value_type(otherRefPointer->GetData());
            return true;
        }
        return false;
    }
 
    inline static cmnGenericObject * CreateArray(size_t size, const cmnGenericObject & other) {
        const value_type * otherPointer = dynamic_cast<const value_type *>(&other);
        pointer data;
        size_t index;
        if (otherPointer) {
            data = static_cast<pointer>(::operator new(sizeof(value_type) * size));
            for (index = 0; index < size; index++) {
                new(&(data[index])) value_type(*otherPointer); // placement new with copy constructor
            }
            return data;
        }
        const value_reftype * otherRefPointer = dynamic_cast<const value_reftype *>(&other);
        if (otherRefPointer) {
            data = static_cast<pointer>(::operator new(sizeof(value_type) * size));
            for (index = 0; index < size; index++) {
                new(&(data[index])) value_type(otherRefPointer->GetData()); // placement new with copy constructor
            }
            return data;
        }
        return 0;
    }
 
    inline static bool CopyConstructorAvailable(void) { return true; }
};
 
template<typename _class, typename _elementType>
class cmnConditionalObjectFactoryOneArg<CMN_DYNAMIC_CREATION_ONEARG, _class, mtsGenericObjectProxy<_elementType> >
{
public:
    typedef _class value_type;
    typedef mtsGenericObjectProxy<_elementType> argTypeWrapped;

    inline static _class * Create(const cmnGenericObject & arg) {
        const mtsGenericObject *mts = dynamic_cast<const mtsGenericObject *>(&arg);
        if (mts) return new value_type(*mtsGenericTypes<_elementType>::CastArg(*mts));
        CMN_LOG_INIT_WARNING << "cmnConditionalObjectFactoryOneArg::Create for proxy could not create object" << std::endl;
        return 0;
    }
 
    inline static bool OneArgConstructorAvailable(void) { return true; }
 
    inline static const cmnClassServicesBase *GetConstructorArgServices(void) {
        return argTypeWrapped::ClassServices();
    }
};

template<typename _class, typename _elementType>
class cmnConditionalObjectFactoryOneArg<CMN_DYNAMIC_CREATION_SETNAME, _class, mtsGenericObjectProxy<_elementType> >
{
public:
    typedef _class value_type;
    typedef mtsGenericObjectProxy<_elementType> argTypeWrapped;

    inline static _class * Create(const cmnGenericObject & arg) {
        const mtsGenericObject *mts = dynamic_cast<const mtsGenericObject *>(&arg);
        if (mts) {
            const _elementType *name = mtsGenericTypes<_elementType>::CastArg(*mts);
            if (name) {
                _class *obj = new value_type;
                obj->SetName(*name);
                return obj;
            }
            CMN_LOG_INIT_WARNING << "cmnConditionalObjectFactoryOneArg::Create for string proxy could not get string" << std::endl;
            return 0;
        }
        CMN_LOG_INIT_WARNING << "cmnConditionalObjectFactoryOneArg::Create for string proxy could not create object" << std::endl;
        return 0;
    }
 
    inline static bool OneArgConstructorAvailable(void) { return true; }
 
    inline static const cmnClassServicesBase *GetConstructorArgServices(void) {
        return argTypeWrapped::ClassServices();
    }
};
 
template<typename _elementType>
class cmnConditionalObjectDestructor<true, mtsGenericObjectProxy<_elementType> >
{
    typedef mtsGenericObjectProxy<_elementType> value_type;
    typedef mtsGenericObjectProxyRef<_elementType> value_reftype;
    typedef value_type * pointer;
    typedef cmnGenericObject * generic_pointer;
public:
    inline static bool DeleteArray(generic_pointer & data, size_t & size) {
        pointer typedData = dynamic_cast<pointer>(data);
        if (typedData) {
            size_t index;
            for (index = 0; index < size; index++) {
                typedData[index].~value_type();
            }
            delete typedData;
            data = 0;
            size = 0;
            return true;
        }
        return false;
    }
 
    inline static bool Delete(cmnGenericObject * existing) {
        value_type * existingPointer = dynamic_cast<value_type *>(existing);
        if (existingPointer) {
            existingPointer->~value_type();
            return true;
        }
        const value_reftype * existingRefPointer = dynamic_cast<const value_reftype *>(existing);
        if (existingRefPointer) {
            existingRefPointer->~value_reftype();
            return true;
        }
        return false;
    }
};
#endif  // !SWIG

template <class _elementType>
class mtsGenericObjectProxyBase: public mtsGenericObject
{
public:
    typedef mtsGenericObjectProxyBase<_elementType> ThisType;
    typedef mtsGenericObject BaseType;
    typedef mtsGenericObjectProxy<_elementType> DeRefType;
    typedef mtsGenericObjectProxyRef<_elementType> RefType;
 
    typedef _elementType value_type;
 
    // CMN_DECLARE_SERVICES_EXPORT(CMN_DYNAMIC_CREATION, CMN_LOG_LOD_RUN_ERROR);
    // Dirty Trick: this class uses the class services of the dereferenced (derived) type
    //enum {HAS_DYNAMIC_CREATION = DeRefType::HAS_DYNAMIC_CREATION};
    //enum {InitialLoD = DeRefType::InitialLoD};
    enum {HAS_DYNAMIC_CREATION = true};
    enum {InitialLoD = CMN_LOG_ALLOW_DEFAULT};
    static cmnClassServicesBase * ClassServices(void) { return DeRefType::ClassServices(); }
    virtual const cmnClassServicesBase * Services(void) const
    {
        return DeRefType::ClassServices();
    }

    inline mtsGenericObjectProxyBase(void) : BaseType()
    {}

    inline mtsGenericObjectProxyBase(const ThisType & other) :
        BaseType(other)
    {}
 
    inline ~mtsGenericObjectProxyBase(void) {}

    virtual value_type & GetData(void) = 0;
    virtual const value_type & GetData(void) const = 0;

    ThisType & operator=(const ThisType &data) {
        this->Assign(data);
        return *this;
    }
 
    virtual void Assign(const ThisType &other) {
        this->GetData() = other.GetData();
        this->SetValid(other.Valid());
        this->SetTimestamp(other.Timestamp());
    }
 
};
 
 
template <class _elementType>
class mtsGenericObjectProxy: public mtsGenericObjectProxyBase<_elementType>
{
    CMN_DECLARE_SERVICES_EXPORT_ALWAYS(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
public:
    typedef mtsGenericObjectProxy<_elementType> ThisType;
    typedef mtsGenericObjectProxyBase<_elementType> BaseType;
    typedef typename mtsGenericObjectProxyBase<_elementType>::value_type value_type;
    typedef typename mtsGenericObjectProxyBase<_elementType>::DeRefType DeRefType;
    typedef typename mtsGenericObjectProxyBase<_elementType>::RefType RefType;
    value_type Data;

    inline mtsGenericObjectProxy(void):
        BaseType(),
        Data()
    {}

    inline mtsGenericObjectProxy(const ThisType & other) :
        BaseType(other), Data(other.Data)
    {}

    inline mtsGenericObjectProxy(const value_type & data):
        Data(data)
    {
        this->SetValid(true);
    }
 
    inline ~mtsGenericObjectProxy(void) {}

    inline ThisType & operator = (const ThisType & other) {
        BaseType::operator = (other);
        Data = other.Data;
        return *this;
    }

    value_type& GetData(void) override{ return Data; }
    const value_type& GetData(void) const override { return Data; }

    ThisType & operator=(const BaseType &data) {
        this->Assign(data);
        return *this;
    }

    inline ThisType & operator=(value_type data) {
        this->Data = data;
        this->SetValid(true);
        return *this;
    }

    inline operator value_type & (void) {
        return this->Data;
    }
    inline operator const value_type & (void) const {
        return this->Data;
    }


    inline void SerializeRaw(std::ostream & outputStream) const override {
        mtsGenericObject::SerializeRaw(outputStream);
        cmnSerializeRaw(outputStream, this->Data);
    }

    inline void DeSerializeRaw(std::istream & inputStream) override {
        mtsGenericObject::DeSerializeRaw(inputStream);
        cmnDeSerializeRaw(inputStream, this->Data);
    }

    inline void ToStream(std::ostream & outputStream) const override {
        BaseType::ToStream(outputStream);
        outputStream << " Value: ";
        cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::ToStream(outputStream, this->Data);
    }

    inline void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                            bool headerOnly = false, const std::string & headerPrefix = "") const override {
        if (headerOnly) {
            BaseType::ToStreamRaw(outputStream, delimiter, headerOnly, headerPrefix);
            outputStream << delimiter << headerPrefix << "-data";
        } else {
            BaseType::ToStreamRaw(outputStream, delimiter);
            outputStream << delimiter;
            cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::ToStreamRaw(outputStream, delimiter, this->Data);
        }
    }

    inline bool FromStreamRaw(std::istream & inputStream, const char delimiter = ' ') override {
        BaseType::FromStreamRaw(inputStream, delimiter);
        return cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::FromStreamRaw(inputStream, delimiter, this->Data);
    }
};
 
 
template <class _elementType>
class mtsGenericObjectProxyRef: public mtsGenericObjectProxyBase<_elementType>
{
    inline mtsGenericObjectProxyRef(void)
    {}
 
public:
    typedef mtsGenericObjectProxyRef<_elementType> ThisType;
    typedef mtsGenericObjectProxyBase<_elementType> BaseType;
    typedef typename mtsGenericObjectProxyBase<_elementType>::value_type value_type;
    typedef typename mtsGenericObjectProxyBase<_elementType>::DeRefType DeRefType;
    typedef typename mtsGenericObjectProxyBase<_elementType>::RefType RefType;
 
    value_type &rData;

    inline mtsGenericObjectProxyRef(const ThisType & other) :
        BaseType(other), rData(other.rData)
    {}

    inline mtsGenericObjectProxyRef(value_type & data): rData(data)
    {
        this->SetValid(true);
    }
    // The const_cast can be eliminated by defining an mtsGenericObjectProxyConstRef,
    // or by specializing mtsGenericObjectProxyRef for const objects,
    // e.g., template <typename _elementType>
    //       class mtsGenericObjectProxyRef<const _elementType>
    inline mtsGenericObjectProxyRef(const value_type & data):
        rData(*const_cast<value_type*>(&data))
    {
        this->SetValid(true);
    }
 
    inline ~mtsGenericObjectProxyRef(void) {}

    value_type& GetData(void) { return rData; }
    const value_type& GetData(void) const { return rData; }

    ThisType & operator=(const BaseType &data) {
        this->Assign(data);
        return *this;
    }

    inline ThisType & operator=(value_type data) {
        this->rData = data;
        this->SetValid(true);
        return *this;
    }

    inline operator value_type & (void) {
        return this->rData;
    }
    inline operator const value_type & (void) const {
        return this->rData;
    }


    inline void SerializeRaw(std::ostream & outputStream) const {
        mtsGenericObject::SerializeRaw(outputStream);
        cmnSerializeRaw(outputStream, this->rData);
    }

    inline void DeSerializeRaw(std::istream & inputStream) {
        mtsGenericObject::DeSerializeRaw(inputStream);
        cmnDeSerializeRaw(inputStream, this->rData);
    }

    inline virtual void ToStream(std::ostream & outputStream) const {
        BaseType::ToStream(outputStream);
        outputStream << " Value(ref): ";
        cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::ToStream(outputStream, this->rData);
    }

    inline virtual void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                                    bool headerOnly = false, const std::string & headerPrefix = "") const {
        if (headerOnly) {
            BaseType::ToStreamRaw(outputStream, delimiter, headerOnly, headerPrefix);
            outputStream << delimiter << headerPrefix << "-data(ref)";
        } else {
            BaseType::ToStreamRaw(outputStream, delimiter);
            outputStream << delimiter;
            cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::ToStreamRaw(outputStream, delimiter, this->rData);
        }
    }

    inline virtual bool FromStreamRaw(std::istream & inputStream, const char delimiter = ' ') {
        BaseType::FromStreamRaw(inputStream, delimiter);
        return cmnDataProxy<value_type, cmnData<value_type>::IS_SPECIALIZED>::FromStreamRaw(inputStream, delimiter, this->rData);
    }
};
 
 
#ifndef SWIG
 
template<typename T, bool>
class mtsGenericTypesImpl
{
    // T is not derived from mtsGenericObject, so wrap it
public:
    typedef mtsGenericObjectProxyBase<T>  FinalBaseType;
    typedef mtsGenericObjectProxy<T>      FinalType;
    typedef mtsGenericObjectProxyRef<T>   FinalRefType;
    static FinalRefType *ConditionalWrap(T &obj) { return new FinalRefType(obj); }
    static bool IsEqual(const T &obj1, const mtsGenericObject &obj2) {
        const FinalRefType *p2 = dynamic_cast<const FinalRefType *>(&obj2);
        return (p2?(&obj1 == &p2->rData):false); }
    static void ConditionalFree(const FinalRefType *obj) { delete obj;}
    static mtsGenericObject* ConditionalCreate(const T &arg, const std::string &)
    {
        return new FinalType(arg);
    }
 
    static T* CastArg(mtsGenericObject &arg) {
        FinalBaseType *tmp = dynamic_cast<FinalBaseType *>(&arg);
        if (!tmp) {
            CMN_LOG_INIT_ERROR << "CastArg could not cast from " << typeid(arg).name()
                               << " to " << typeid(FinalBaseType).name() << std::endl;
            return 0;
        }
        return &(tmp->GetData());
    }
    static const T* CastArg(const mtsGenericObject &arg) {
        const FinalBaseType *tmp = dynamic_cast<const FinalBaseType *>(&arg);
        if (!tmp) {
            CMN_LOG_INIT_ERROR << "CastArg could not cast from const " << typeid(arg).name()
                               << " to const " << typeid(FinalBaseType).name() << std::endl;
            return 0;
        }
        return &(tmp->GetData());
    }
};
 
template<typename T>
class mtsGenericTypesImpl<T, true>
{
    // T is derived from mtsGenericObject
public:
    typedef T FinalBaseType;
    typedef T FinalType;
    typedef T FinalRefType;
    static FinalRefType *ConditionalWrap(T &obj) { return &obj; }
    static bool IsEqual(const T &obj1, const mtsGenericObject &obj2) { return &obj1 == &obj2; }
    static void ConditionalFree(const FinalRefType *) {}
    static mtsGenericObject* ConditionalCreate(const T &arg, const std::string &name) {
        if (typeid(T) != *arg.Services()->TypeInfoPointer()) {
            CMN_LOG_INIT_ERROR << "ConditionalCreate: argument prototype is wrong type for command \"" << name << "\" (expected \""
                               << typeid(T).name() << "\", got \""
                               << arg.Services()->TypeInfoPointer()->name() << "\")" << std::endl;
        }
        return new FinalType(arg);
    }
 
    static T* CastArg(mtsGenericObject &arg) {
        T* temp = dynamic_cast<T * >(&arg);
        if (!temp) {
            CMN_LOG_INIT_ERROR << "CastArg for mts, could not cast from " << arg.Services()->GetName()
                               << " to " << T::ClassServices()->GetName() << std::endl;
        }
        return temp;
    }
 
    static const T* CastArg(const mtsGenericObject &arg) {
        const T* temp = dynamic_cast<const T * >(&arg);
        if (!temp) {
            CMN_LOG_INIT_ERROR << "CastArg for mts, could not cast from const " << arg.Services()->GetName()
                               <<" to " << T::ClassServices()->GetName() << std::endl;
        }
        return temp;
    }
};
 
template<typename T>
class mtsGenericTypes
{
    typedef mtsGenericTypesImpl<T, cmnIsDerivedFrom<T, mtsGenericObject>::IS_DERIVED> impl;
public:
    typedef typename mtsGenericTypesImpl<T, cmnIsDerivedFrom<T, mtsGenericObject>::IS_DERIVED>::FinalBaseType FinalBaseType;
    typedef typename mtsGenericTypesImpl<T, cmnIsDerivedFrom<T, mtsGenericObject>::IS_DERIVED>::FinalType     FinalType;
    typedef typename mtsGenericTypesImpl<T, cmnIsDerivedFrom<T, mtsGenericObject>::IS_DERIVED>::FinalRefType  FinalRefType;
    static FinalRefType *ConditionalWrap(T &obj) { return impl::ConditionalWrap(obj); }
    static bool IsEqual(const T &obj1, const mtsGenericObject &obj2) { return impl::IsEqual(obj1, obj2); }
    static void ConditionalFree(const FinalRefType *obj) { impl::ConditionalFree(obj); }
    static mtsGenericObject* ConditionalCreate(const T &arg, const std::string &name) {
        mtsGenericObject *tmp = impl::ConditionalCreate(arg, name);
        if (!tmp) {
            CMN_LOG_INIT_ERROR << "ConditionalCreate returning NULL for " << name
                               << " (maybe you should use CMN_DECLARE_SERVICES with CMN_DYNAMIC_CREATION)" << std::endl;
        }
        return tmp;
    }
 
    static T* CastArg(mtsGenericObject &arg) {
        return impl::CastArg(arg);
    }
    static const T* CastArg(const mtsGenericObject &arg) {
        return impl::CastArg(arg);
    }
};
 
template<typename T, bool>
class mtsGenericTypesUnwrapImpl
{
    // T is not a proxy type
public:
    typedef T RefType;
    typedef T BaseType;
};
 
template<typename T>
class mtsGenericTypesUnwrapImpl<T, true>
{
    // T is a proxy type
public:
    typedef typename T::RefType RefType;
    typedef typename T::BaseType BaseType;
};
 
template<typename T>
class mtsGenericTypesUnwrap
{
    typedef mtsGenericTypesUnwrapImpl<T, cmnIsDerivedFromTemplated<T, mtsGenericObjectProxyBase >::IS_DERIVED> impl;
public:
    typedef typename mtsGenericTypesUnwrapImpl<T, cmnIsDerivedFromTemplated<T, mtsGenericObjectProxyBase >::IS_DERIVED>::RefType RefType;
    typedef typename mtsGenericTypesUnwrapImpl<T, cmnIsDerivedFromTemplated<T, mtsGenericObjectProxyBase >::IS_DERIVED>::BaseType BaseType;
};
 
// Some macros for creating class services
 
#define CMN_IMPLEMENT_SERVICES_DERIVED_ONEARG(className, parentName, argType) \
            CMN_IS_DERIVED_FROM_ASSERT(className, parentName) \
            CMN_IMPLEMENT_SERVICES_INTERNAL(className, parentName::ClassServices(), mtsGenericTypes<argType>::FinalType)
 
#define CMN_IMPLEMENT_SERVICES_DERIVED_ONEARG_TEMPLATED(className, parentName, argType) \
            CMN_IS_DERIVED_FROM_ASSERT(className, parentName) \
            CMN_IMPLEMENT_SERVICES_TEMPLATED_INTERNAL(className, parentName::ClassServices(), mtsGenericTypes<argType>::FinalType)
#endif
 
/* Some basic types defined here for now, could move somewhere else. */
typedef mtsGenericObjectProxy<double> mtsDouble;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsDouble);
 
typedef mtsGenericObjectProxy<float> mtsFloat;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsFloat);
 
typedef mtsGenericObjectProxy<long> mtsLong;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsLong);
 
typedef mtsGenericObjectProxy<long long> mtsLongLong;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsLongLong);
 
typedef mtsGenericObjectProxy<unsigned long> mtsULong;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsULong);
 
typedef mtsGenericObjectProxy<int> mtsInt;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsInt);
 
typedef mtsGenericObjectProxy<unsigned int> mtsUInt;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsUInt);
 
typedef mtsGenericObjectProxy<short> mtsShort;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsShort);
 
typedef mtsGenericObjectProxy<unsigned short> mtsUShort;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsUShort);
 
typedef mtsGenericObjectProxy<char> mtsChar;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsChar);
 
typedef mtsGenericObjectProxy<unsigned char> mtsUChar;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsUChar);
 
typedef mtsGenericObjectProxy<bool> mtsBool;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsBool);
 
#if (CISST_OS == CISST_WINDOWS)
// On Windows, size_t is unsigned __int64
typedef mtsGenericObjectProxy<size_t> mtsSizeT;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsSizeT);
#endif
 
typedef mtsGenericObjectProxy<std::string> mtsStdString;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdString);
 
// Add Proxy to name to distinguish this from mtsVector<std::string>
typedef mtsGenericObjectProxy<stdStringVec> mtsStdStringVecProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdStringVecProxy);
 
typedef mtsGenericObjectProxy<stdDoubleVec> mtsStdDoubleVecProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdDoubleVecProxy);
 
typedef mtsGenericObjectProxy<stdCharVec> mtsStdCharVecProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdCharVecProxy);
 
typedef mtsGenericObjectProxy<stdVct3Vec> mtsStdVct3VecProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdVct3VecProxy);
 
typedef mtsGenericObjectProxy<stdStringList> mtsStdStringListProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsStdStringListProxy);
 
#include <cisstCommon/cmnJointType.h>
typedef mtsGenericObjectProxy<cmnJointType> cmnJointTypeProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(cmnJointTypeProxy);
 
// Now, define proxies for cisstVector classes (see also
// mtsFixedSizeVectorTypes.h, which uses multiple inheritance,
// rather than proxies).
typedef mtsGenericObjectProxy<vct1> mtsVct1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct1)
typedef mtsGenericObjectProxy<vct2> mtsVct2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct2)
typedef mtsGenericObjectProxy<vct3> mtsVct3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct3)
typedef mtsGenericObjectProxy<vct4> mtsVct4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct4)
typedef mtsGenericObjectProxy<vct5> mtsVct5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct5)
typedef mtsGenericObjectProxy<vct6> mtsVct6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct6)
typedef mtsGenericObjectProxy<vct7> mtsVct7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct7)
typedef mtsGenericObjectProxy<vct8> mtsVct8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct8)
typedef mtsGenericObjectProxy<vct9> mtsVct9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct9)
 
typedef mtsGenericObjectProxy<vctFloat1> mtsVctFloat1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat1)
typedef mtsGenericObjectProxy<vctFloat2> mtsVctFloat2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat2)
typedef mtsGenericObjectProxy<vctFloat3> mtsVctFloat3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat3)
typedef mtsGenericObjectProxy<vctFloat4> mtsVctFloat4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat4)
typedef mtsGenericObjectProxy<vctFloat5> mtsVctFloat5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat5)
typedef mtsGenericObjectProxy<vctFloat6> mtsVctFloat6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat6)
typedef mtsGenericObjectProxy<vctFloat7> mtsVctFloat7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat7)
typedef mtsGenericObjectProxy<vctFloat8> mtsVctFloat8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat8)
typedef mtsGenericObjectProxy<vctFloat9> mtsVctFloat9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloat9)
 
typedef mtsGenericObjectProxy<vctLong1> mtsVctLong1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong1)
typedef mtsGenericObjectProxy<vctLong2> mtsVctLong2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong2)
typedef mtsGenericObjectProxy<vctLong3> mtsVctLong3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong3)
typedef mtsGenericObjectProxy<vctLong4> mtsVctLong4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong4)
typedef mtsGenericObjectProxy<vctLong5> mtsVctLong5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong5)
typedef mtsGenericObjectProxy<vctLong6> mtsVctLong6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong6)
typedef mtsGenericObjectProxy<vctLong7> mtsVctLong7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong7)
typedef mtsGenericObjectProxy<vctLong8> mtsVctLong8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong8)
typedef mtsGenericObjectProxy<vctLong9> mtsVctLong9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLong9)
 
typedef mtsGenericObjectProxy<vctULong1> mtsVctULong1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong1)
typedef mtsGenericObjectProxy<vctULong2> mtsVctULong2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong2)
typedef mtsGenericObjectProxy<vctULong3> mtsVctULong3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong3)
typedef mtsGenericObjectProxy<vctULong4> mtsVctULong4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong4)
typedef mtsGenericObjectProxy<vctULong5> mtsVctULong5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong5)
typedef mtsGenericObjectProxy<vctULong6> mtsVctULong6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong6)
typedef mtsGenericObjectProxy<vctULong7> mtsVctULong7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong7)
typedef mtsGenericObjectProxy<vctULong8> mtsVctULong8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong8)
typedef mtsGenericObjectProxy<vctULong9> mtsVctULong9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULong9)
 
typedef mtsGenericObjectProxy<vctInt1> mtsVctInt1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt1)
typedef mtsGenericObjectProxy<vctInt2> mtsVctInt2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt2)
typedef mtsGenericObjectProxy<vctInt3> mtsVctInt3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt3)
typedef mtsGenericObjectProxy<vctInt4> mtsVctInt4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt4)
typedef mtsGenericObjectProxy<vctInt5> mtsVctInt5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt5)
typedef mtsGenericObjectProxy<vctInt6> mtsVctInt6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt6)
typedef mtsGenericObjectProxy<vctInt7> mtsVctInt7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt7)
typedef mtsGenericObjectProxy<vctInt8> mtsVctInt8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt8)
typedef mtsGenericObjectProxy<vctInt9> mtsVctInt9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctInt9)
 
typedef mtsGenericObjectProxy<vctUInt1> mtsVctUInt1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt1)
typedef mtsGenericObjectProxy<vctUInt2> mtsVctUInt2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt2)
typedef mtsGenericObjectProxy<vctUInt3> mtsVctUInt3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt3)
typedef mtsGenericObjectProxy<vctUInt4> mtsVctUInt4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt4)
typedef mtsGenericObjectProxy<vctUInt5> mtsVctUInt5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt5)
typedef mtsGenericObjectProxy<vctUInt6> mtsVctUInt6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt6)
typedef mtsGenericObjectProxy<vctUInt7> mtsVctUInt7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt7)
typedef mtsGenericObjectProxy<vctUInt8> mtsVctUInt8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt8)
typedef mtsGenericObjectProxy<vctUInt9> mtsVctUInt9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUInt9)
 
typedef mtsGenericObjectProxy<vctShort1> mtsVctShort1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort1)
typedef mtsGenericObjectProxy<vctShort2> mtsVctShort2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort2)
typedef mtsGenericObjectProxy<vctShort3> mtsVctShort3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort3)
typedef mtsGenericObjectProxy<vctShort4> mtsVctShort4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort4)
typedef mtsGenericObjectProxy<vctShort5> mtsVctShort5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort5)
typedef mtsGenericObjectProxy<vctShort6> mtsVctShort6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort6)
typedef mtsGenericObjectProxy<vctShort7> mtsVctShort7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort7)
typedef mtsGenericObjectProxy<vctShort8> mtsVctShort8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort8)
typedef mtsGenericObjectProxy<vctShort9> mtsVctShort9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShort9)
 
typedef mtsGenericObjectProxy<vctUShort1> mtsVctUShort1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort1)
typedef mtsGenericObjectProxy<vctUShort2> mtsVctUShort2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort2)
typedef mtsGenericObjectProxy<vctUShort3> mtsVctUShort3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort3)
typedef mtsGenericObjectProxy<vctUShort4> mtsVctUShort4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort4)
typedef mtsGenericObjectProxy<vctUShort5> mtsVctUShort5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort5)
typedef mtsGenericObjectProxy<vctUShort6> mtsVctUShort6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort6)
typedef mtsGenericObjectProxy<vctUShort7> mtsVctUShort7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort7)
typedef mtsGenericObjectProxy<vctUShort8> mtsVctUShort8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort8)
typedef mtsGenericObjectProxy<vctUShort9> mtsVctUShort9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShort9)
 
typedef mtsGenericObjectProxy<vctChar1> mtsVctChar1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar1)
typedef mtsGenericObjectProxy<vctChar2> mtsVctChar2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar2)
typedef mtsGenericObjectProxy<vctChar3> mtsVctChar3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar3)
typedef mtsGenericObjectProxy<vctChar4> mtsVctChar4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar4)
typedef mtsGenericObjectProxy<vctChar5> mtsVctChar5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar5)
typedef mtsGenericObjectProxy<vctChar6> mtsVctChar6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar6)
typedef mtsGenericObjectProxy<vctChar7> mtsVctChar7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar7)
typedef mtsGenericObjectProxy<vctChar8> mtsVctChar8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar8)
typedef mtsGenericObjectProxy<vctChar9> mtsVctChar9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctChar9)
 
typedef mtsGenericObjectProxy<vctUChar1> mtsVctUChar1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar1)
typedef mtsGenericObjectProxy<vctUChar2> mtsVctUChar2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar2)
typedef mtsGenericObjectProxy<vctUChar3> mtsVctUChar3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar3)
typedef mtsGenericObjectProxy<vctUChar4> mtsVctUChar4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar4)
typedef mtsGenericObjectProxy<vctUChar5> mtsVctUChar5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar5)
typedef mtsGenericObjectProxy<vctUChar6> mtsVctUChar6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar6)
typedef mtsGenericObjectProxy<vctUChar7> mtsVctUChar7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar7)
typedef mtsGenericObjectProxy<vctUChar8> mtsVctUChar8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar8)
typedef mtsGenericObjectProxy<vctUChar9> mtsVctUChar9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUChar9)
 
typedef mtsGenericObjectProxy<vctBool1> mtsVctBool1;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool1)
typedef mtsGenericObjectProxy<vctBool2> mtsVctBool2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool2)
typedef mtsGenericObjectProxy<vctBool3> mtsVctBool3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool3)
typedef mtsGenericObjectProxy<vctBool4> mtsVctBool4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool4)
typedef mtsGenericObjectProxy<vctBool5> mtsVctBool5;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool5)
typedef mtsGenericObjectProxy<vctBool6> mtsVctBool6;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool6)
typedef mtsGenericObjectProxy<vctBool7> mtsVctBool7;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool7)
typedef mtsGenericObjectProxy<vctBool8> mtsVctBool8;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool8)
typedef mtsGenericObjectProxy<vctBool9> mtsVctBool9;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBool9)
 
// Define a few fixed size matrices
#include <cisstVector/vctFixedSizeMatrixTypes.h>
#include <cisstVector/vctDataFunctionsFixedSizeMatrix.h>
typedef mtsGenericObjectProxy<vct2x2> mtsVct2x2;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct2x2)
typedef mtsGenericObjectProxy<vct3x3> mtsVct3x3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct3x3)
typedef mtsGenericObjectProxy<vct4x4> mtsVct4x4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVct4x4)
 
// Transformation types (see also mtsTransformationTypes.h,
// which uses multiple inheritance).
#include <cisstVector/vctTransformationTypes.h>
#include <cisstVector/vctDataFunctionsTransformations.h>
typedef mtsGenericObjectProxy<vctMatRot3> mtsVctMatRot3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctMatRot3)
typedef mtsGenericObjectProxy<vctFrm3> mtsVctFrm3;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFrm3)
typedef mtsGenericObjectProxy<vctFrm4x4> mtsVctFrm4x4;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFrm4x4)
 
// Dynamic vectors (see also mtsVector.h, which uses
// multiple inheritance)
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstVector/vctDataFunctionsDynamicVector.h>
typedef mtsGenericObjectProxy<vctDoubleVec> mtsVctDoubleVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctDoubleVec)
typedef mtsGenericObjectProxy<vctFloatVec> mtsVctFloatVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloatVec)
typedef mtsGenericObjectProxy<vctIntVec> mtsVctIntVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctIntVec)
typedef mtsGenericObjectProxy<vctUIntVec> mtsVctUIntVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUIntVec)
typedef mtsGenericObjectProxy<vctCharVec> mtsVctCharVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctCharVec)
typedef mtsGenericObjectProxy<vctUCharVec> mtsVctUCharVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUCharVec)
typedef mtsGenericObjectProxy<vctBoolVec> mtsVctBoolVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctBoolVec)
typedef mtsGenericObjectProxy<vctShortVec> mtsVctShortVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctShortVec)
typedef mtsGenericObjectProxy<vctUShortVec> mtsVctUShortVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctUShortVec)
typedef mtsGenericObjectProxy<vctLongVec> mtsVctLongVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctLongVec)
typedef mtsGenericObjectProxy<vctULongVec> mtsVctULongVec;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctULongVec)
 
// Dynamic matrices (see also mtsMatrix.h, which uses
// multiple inheritance)
#include <cisstVector/vctDynamicMatrixTypes.h>
#include <cisstVector/vctDataFunctionsDynamicMatrix.h>
typedef mtsGenericObjectProxy<vctDoubleMat> mtsVctDoubleMat;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctDoubleMat)
typedef mtsGenericObjectProxy<vctFloatMat> mtsVctFloatMat;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctFloatMat)
typedef mtsGenericObjectProxy<vctIntMat> mtsVctIntMat;
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVctIntMat)
 
#endif