prmVelocityJointGet.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: 2008-04-10

(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 _prmVelocityJointGet_h
#define _prmVelocityJointGet_h

// basic includes
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstMultiTask/mtsGenericObject.h>

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

class CISST_EXPORT prmVelocityJointGet: public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

public:
    typedef mtsGenericObject BaseType;
    typedef prmVelocityJointGet ThisType;
    typedef unsigned int size_type;

    inline prmVelocityJointGet(void):
        BaseType()
    {}

    inline prmVelocityJointGet(size_type size):
        BaseType()
    { 
        SetSize(size);
    }

    void SetSize(size_type size);

    inline explicit prmVelocityJointGet(const vctDoubleVec & velocity):
        BaseType(),
        VelocityMember(velocity)
     {}

    virtual ~prmVelocityJointGet();

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Velocity);

public:

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

    void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                     bool headerOnly = false, const std::string & headerPrefix = "") const;

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

    void DeSerializeRaw(std::istream & inputStream);

}; // _prmVelocityJointGet_h


CMN_DECLARE_SERVICES_INSTANTIATION(prmVelocityJointGet);


#endif // _prmVelocityJointGet_h