mtsOSGBodyUI.h

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#ifndef _mtsOSGBodyUI_h
#define _mtsOSGBodyUI_h

#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osg/Shape>

#include <cisstMultiTask/mtsComponent.h>
#include <cisstMultiTask/mtsInterfaceRequired.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>

#include <cisstParameterTypes/prmPositionCartesianGet.h>

#include <sawOpenSceneGraph/osaOSGBodyUI.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>

class CISST_EXPORT mtsOSGPointer3D : public mtsComponent {

 protected:

  class Pointer : public osaOSGPointer3D {

  protected:

    virtual void UpdateTransform();
    
  public:

    vctFixedSizeVector<double,3> told;

    mtsInterfaceRequired* input;
    mtsFunctionRead GetPosition;
    mtsFunctionRead GetVelocity;
    mtsFunctionRead GetButtons;
    
    Pointer( osaOSGWorld* world, 
         const vctFrame4x4<double>& Rt,
         const std::string& name,
         double scale=1.0, 
         double alpha=1.0 ) :
      osaOSGPointer3D( world, Rt, name, scale, alpha ),
      input( NULL ){}
    
  };


  Pointer pointer;

 public:
  
  mtsOSGPointer3D( const std::string& name,
           osaOSGWorld* world, 
           const vctFrame4x4<double>& Rt,
           double scale=1.0, 
           double alpha=1.0 );
  
};

class CISST_EXPORT mtsOSGBodyUI : public mtsComponent {

 protected:

  class BodyUI : public osaOSGBodyUI {

  protected:

    virtual void UpdateTransform();

  public:

    mtsInterfaceRequired* output;
    mtsFunctionWrite SetPositionCartesian;

    BodyUI( const std::string& model,
        osaOSGWorld* world,
        const vctFrame4x4<double>& Rt = vctFrame4x4<double>(),
        double scale = 1.0,
        double alpha = 1.0,
        const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>(),
        const std::string& option = std::string("") );
      
  };

  BodyUI bodyui;

 public:
  
  mtsOSGBodyUI( const std::string& name,
        const std::string& model,
        osaOSGWorld* world,
        const vctFrame4x4<double>& Rt = vctFrame4x4<double>(),
        double scale = 1.0,
        double alpha = 1.0,
        const vctFrame4x4<double>& Rtoffset = vctFrame4x4<double>(),
        const std::string& option = std::string("") );
  
};

#endif