osaGLUTManipulator.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 _osaGLUTManipulator_h
#define _osaGLUTManipulator_h

#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstRobot/robManipulator.h>

#include <sawGLUTSimulator/sawGLUTSimulatorExport.h>

class osaMeshTriangular;

class CISST_EXPORT osaGLUTManipulator : public robManipulator
{
 protected:

  vctDoubleVec q;

  osaMeshTriangular* base;
  std::vector< osaMeshTriangular* > meshes;

 public: 


  osaGLUTManipulator( const std::vector<std::string>& geomfiles,
                      const vctFrame4x4<double>& Rtw0,
                      const std::string& robotfn,
                      const vctDoubleVec& qinit,
                      const std::string& basefile,
                      bool rotateX90 = false );


  osaGLUTManipulator( const std::vector<std::string>& geomfiles,
                      const vctFrm3& Rtw0,
                      const std::string& robotfn,
                      const vctDoubleVec& qinit,
                      const std::string& basefile,
                      bool rotateX90 = false );

  ~osaGLUTManipulator();

  void Initialize(const std::vector<std::string>& geomfiles,
                  const std::string& basefile, bool rotateX90);


  virtual bool GetPositions(vctDoubleVec& q) const;


  virtual bool SetPositions(const vctDoubleVec& q);

};

#endif