prmTransformationManager.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 2003-2008 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 ---
*/

// transformation base and derived classes
#include <cisstParameterTypes/prmTransformationBase.h>
#include <cisstParameterTypes/prmTransformationFixed.h>

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

#ifndef _prmTransformationManager_h
#define _prmTransformationManager_h


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

public:
    typedef std::list<prmTransformationBasePtr> NodeListType;

protected:
    static NodeListType Path;
    static NodeListType VisitedNodes;
    static NodeListType VisitedNodes2;
       
    static bool Attach(const prmTransformationBasePtr & attachPoint, const prmTransformationBasePtr & newFrame);
    static bool Attach(const std::string & parentName, const prmTransformationBasePtr & newFrame);
    
    static bool Detach(const prmTransformationBasePtr & frame);
    
public:
       
    
    static prmTransformationFixed TheWorld;

    static void Clear();

   static bool NodeCreatesCycle(const prmTransformationBasePtr & attachPoint, const prmTransformationBasePtr & newFrame);
   static bool NodeCreatesCycle(const std::string & pName, const prmTransformationBasePtr & newFrame);

    static vctFrm3 WRTReference(const prmTransformationBasePtr & tipFrame, const prmTransformationBasePtr & refFrame);
    
    static unsigned int ReplaceReference(const prmTransformationBasePtr & nodePtr, const prmTransformationBasePtr & newReference);
    static unsigned int ReplaceReference(const prmTransformationBasePtr & nodePtr, const std::string & parentName);

    static void ToStreamDot(std::ostream & outputStream);
    static void ToStreamDotHelper(std::ostream & outputStream, prmTransformationBasePtr parent);

    static bool FindPath(const prmTransformationBasePtr & target, const prmTransformationBasePtr & reference);

    static bool FindPathConnectedTree(const prmTransformationBasePtr & target, const prmTransformationBasePtr & reference);

    static prmTransformationBasePtr GetTransformationNodePtr(const std::string pName);

    //return path and take path here. If you throw away the path, then its lost.
    //make this thread safe
    //check ofri's old code to see if any other ideas were missed.
    static void PathToStreamDot(std::ostream & outputStream);

}; /* prmTransformationManager */

CMN_DECLARE_SERVICES_INSTANTIATION(prmTransformationManager);


inline vctFrm3 prmWRTReference(const prmTransformationBasePtr & tipFrame, const prmTransformationBasePtr & refFrame) 
{
    return prmTransformationManager::WRTReference(tipFrame, refFrame);
}

inline vctFrm3 prmWRTWorld(const prmTransformationBasePtr & frame) 
{
    return prmTransformationManager::WRTReference(frame, &prmTransformationManager::TheWorld);
}

inline vctFrm3 prmWRTReference(const std::string & tipFrame, const std::string & refFrame)
{
    prmTransformationBasePtr tf1 = prmTransformationManager::GetTransformationNodePtr(tipFrame) ;
    prmTransformationBasePtr rf1 = prmTransformationManager::GetTransformationNodePtr(refFrame) ;
    return prmTransformationManager::WRTReference(tf1, rf1);
}

inline vctFrm3 prmWRTReference(const std::string & tipFrame, const prmTransformationBasePtr & refFrame)
{
    prmTransformationBasePtr tf1 = prmTransformationManager::GetTransformationNodePtr(tipFrame) ;
    return prmTransformationManager::WRTReference(tf1, refFrame);
}
inline vctFrm3 prmWRTReference(const prmTransformationBasePtr & tipFrame, const std::string & refFrame)
{
    prmTransformationBasePtr rf1 = prmTransformationManager::GetTransformationNodePtr(refFrame) ;
    return prmTransformationManager::WRTReference(tipFrame, rf1);
}

#endif // _prmTransformationManager_h