prmRobotState.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):    Marcin Balicki
  Created on:   2008-09-14
 
  (C) Copyright 2008-2023 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 _prmRobotState_h
#define _prmRobotState_h
 
//basic includes
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstMultiTask/mtsGenericObject.h>
#include <cisstMultiTask/mtsMacros.h>
#include <cisstMultiTask/mtsVector.h>
#include <cisstVector/vctTransformationTypes.h>
 
// for conversion methods
#include <cisstParameterTypes/prmStateJoint.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
 
// Always include last
#include <cisstParameterTypes/prmExport.h>

class CISST_EXPORT prmRobotState: public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
public:
    typedef prmRobotState       ThisType;
    typedef mtsGenericObject    BaseType;
 
    typedef unsigned int size_type;

    prmRobotState() ;
 
    prmRobotState(size_type size);
 
    void SetSize(size_type size);

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

    //inline prmRobotState(const prmPosition & position,
    //                           const mtsStateIndex & stateIndex):
    //    PositionMember(position),
    //    StateIndexMember(stateIndex)
    //{}

    virtual ~prmRobotState() {};

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

    void DeSerializeRaw(std::istream & inputStream) override;

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDynamicVector<std::string>, JointName);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPosition);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocity);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPositionGoal);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocityGoal);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPositionError);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocityError);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, ReferenceFrame);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, MovingFrame);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPosition);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocity);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPositionGoal);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocityGoal);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPositionError);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocityError);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctFrm3, EndEffectorFrame);
 
 
 
 
}; // _prmRobotState_h
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(prmRobotState);
 
// declare some conversion functions
bool CISST_EXPORT prmRobotStateToStateJointMeasured(const prmRobotState & input, prmStateJoint & output);
bool CISST_EXPORT prmRobotStateToStateJointSetpoint(const prmRobotState & input, prmStateJoint & output);
bool CISST_EXPORT prmRobotStateToCartesianPositionRxRyMeasured(const prmRobotState & input, prmPositionCartesianGet & output);
bool CISST_EXPORT prmRobotStateToCartesianPositionRxRySetpoint(const prmRobotState & input, prmPositionCartesianGet & output);
 
#endif