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 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>

// 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;

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

    virtual ~prmRobotState() {};

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

    void DeSerializeRaw(std::istream & inputStream);

    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(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);


#endif