mtsGLUTManipulator.h

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/*

  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 2009-2011 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 _mtsGLUTManipulator_h
#define _mtsGLUTManipulator_h

#include <cisstOSAbstraction/osaCPUAffinity.h>
#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstParameterTypes/prmPositionJointGet.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <cisstParameterTypes/prmPositionJointSet.h>

#include <sawGLUTSimulator/osaGLUTManipulator.h>
#include <sawGLUTSimulator/sawGLUTSimulatorExport.h>

class osaMeshTriangular;

class CISST_EXPORT mtsGLUTManipulator : public mtsTaskPeriodic
{
  CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT)

 private:

  void Initialize(const vctDoubleVec & qinit);

  osaGLUTManipulator manipulator;

  prmPositionCartesianGet Rtout;
  prmPositionJointGet qout;
  prmPositionJointSet qin;

  mtsInterfaceProvided* input;
  mtsInterfaceProvided* output;
  mtsInterfaceProvided* ctl;

  osaCPUMask cpumask;
  int priority;

 public: 


  mtsGLUTManipulator( const std::string& name,
                      double period,
                      osaCPUMask mask,
                      int _priority,
                      const std::vector<std::string>& geomfiles,
                      const vctFrame4x4<double>& Rtw0,
                      const std::string& robotfn,
                      const vctDoubleVec& qinit,
                      const std::string& basefile,
                      bool rotateX90 = false );

  mtsGLUTManipulator( const std::string& name,
                      double period,
                      osaCPUMask mask,
                      int _priority,
                      const std::vector<std::string>& geomfiles,
                      const vctFrm3& Rtw0,
                      const std::string& robotfn,
                      const vctDoubleVec& qinit,
                      const std::string& basefile,
                      bool rotateX90 = false );

  ~mtsGLUTManipulator(){}

  void Configure( const std::string& CMN_UNUSED(argv) = "" ){}

  void Startup(){}
  void Run();
  void Cleanup(){}

};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsGLUTManipulator);

#endif