prmForceCartesianGet.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):    Anton Deguet
  Created on:   2009-02-06
 
  (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 _prmForceCartesianGet_h
#define _prmForceCartesianGet_h
 
#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstMultiTask/mtsGenericObject.h>
 
// Always include last
#include <cisstParameterTypes/prmExport.h>

class CISST_EXPORT prmForceCartesianGet: public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
 public:
    typedef mtsGenericObject BaseType;
 
    typedef vctFixedSizeConstVectorRef<double, 3, 1> ConstForceType;
    typedef vctFixedSizeVectorRef<double, 3, 1> ForceType;
 
    typedef ConstForceType ConstTorqueType;
    typedef ForceType TorqueType;

    inline prmForceCartesianGet(void):
        mtsGenericObject()
    {}

    inline prmForceCartesianGet(const vctDouble6 & force):
        ForceMember(force)
    {
        this->MaskMember.SetAll(true);
    }

    virtual ~prmForceCartesianGet();

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDouble6, Force);
 

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBool6, Mask);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, ReferenceFrame);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, MovingFrame);
 
public:

    inline ConstForceType F(void) const {
        return ConstForceType(ForceMember.Pointer(0));
    }

    inline ForceType F(void) {
        return ForceType(ForceMember.Pointer(0));
    }

    inline ConstTorqueType T(void) const {
        return ConstTorqueType(ForceMember.Pointer(3));
    }

    inline TorqueType T(void) {
        return TorqueType(ForceMember.Pointer(3));
    }

    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;
 
}; // _prmForceCartesianGet_h
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(prmForceCartesianGet);
 
 
#endif // _prmForceCartesianGet_h