prmForceCartesianSet.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:   2008-03-12
 
  (C) Copyright 2009-2023 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 _prmForceCartesianSet_h
#define _prmForceCartesianSet_h
 
#include <cisstVector/vctFixedSizeVector.h>
#include <cisstParameterTypes/prmMotionBase.h>
 
// Always include last
#include <cisstParameterTypes/prmExport.h>

 
class CISST_EXPORT prmForceCartesianSet: public prmMotionBase
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
public:
 
    typedef prmMotionBase BaseType;
    typedef vctFixedSizeVector<double, 6> ForceType;
    typedef vctFixedSizeVector<bool, 6> MaskType;
 
 protected:
    CMN_DECLARE_MEMBER_AND_ACCESSORS(ForceType, Force);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(MaskType, Mask);
 
 public:
    prmForceCartesianSet():
        ForceMember(0.0),
        MaskMember(true)
    {}

    prmForceCartesianSet(const ForceType & force,
                         const MaskType & mask):
        ForceMember(force),
        MaskMember(mask)
    {}
 
    inline void SetAll(double forceSet, bool mask)
    {
        ForceMember.SetAll(forceSet);
        MaskMember.SetAll(mask);
    }

    virtual ~prmForceCartesianSet();

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

    void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                     bool headerOnly = false, const std::string & headerPrefix = "") const override;

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

    void DeSerializeRaw(std::istream & inputStream) override;
 
}; // _prmForceCartesianSet_h
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(prmForceCartesianSet);
 
 
#endif // _prmForceCartesianSet_h