prmTransformationFixed.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 2007-2008 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 _prmTransformationFixed_h
#define _prmTransformationFixed_h

#include <cisstParameterTypes/prmTransformationBase.h>

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


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

 protected:
    vctFrm3 Transformation; 
    
 public:
    inline prmTransformationFixed(void):
        prmTransformationBase()
    {
        /* Transformation is identity by default */
    }
    
    inline prmTransformationFixed(const std::string & name):
        prmTransformationBase(name)
    {
        /* Transformation is identity by default */
    }
    
    inline prmTransformationFixed(const std::string & name,
                                  const vctFrm3 & transformation,
                                  prmTransformationBasePtr newReference):
        prmTransformationBase(name),
        Transformation(transformation)
    {
        this->SetReferenceFrame(newReference);
    }
    
    ~prmTransformationFixed(); 

    inline void SetTransformation(const vctFrm3 & newTransformation) 
    {
        this->Transformation.Assign(newTransformation);
    }
    inline vctFrm3 GetTransformation(void) const 
    {
        return this->Transformation;
    }
    
    inline vctFrm3 WRTReference(void) const 
    {
        return this->GetTransformation();
    }

};  // prmTransformationFixed


CMN_DECLARE_SERVICES_INSTANTIATION(prmTransformationFixed);


#endif // _prmTransformationFixed_h