prmVelocityCartesianSet.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 2008-2023 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 _prmVelocityCartesianSet_h
#define _prmVelocityCartesianSet_h
 
#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstParameterTypes/prmMotionBase.h>
 
// Always include last
#include <cisstParameterTypes/prmExport.h>
 


 
class CISST_EXPORT prmVelocityCartesianSet: public prmMotionBase
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 protected:
 
    typedef prmMotionBase BaseType;

    vctDouble3 Velocity;

    vctDouble3 VelocityAngular;

    vctDouble3 Acceleration;

    vctDouble3 AccelerationAngular;

    vctBool6 Mask;
 
 public:
    inline prmVelocityCartesianSet()
    {
        Velocity.SetAll(0.0);
        VelocityAngular.SetAll(0.0);
        Acceleration.SetAll(0.0);
        AccelerationAngular.SetAll(0.0);
        Mask.SetAll(false);
    }

 
    prmVelocityCartesianSet(const vctDouble3 & velocity,
                            const vctDouble3 & velocityAngular,
                            const vctDouble3 & acceleration,
                            const vctDouble3 & accelerationAngular,
                            const vctBool6 & mask):
        Velocity(velocity),
        VelocityAngular(velocityAngular),
        Acceleration(acceleration),
        AccelerationAngular(accelerationAngular),
        Mask(mask)
        {}

    virtual ~prmVelocityCartesianSet();

    inline void SetGoal(const vctDouble6 & velocities)
    {
        this->Velocity[0] = velocities[0];
        this->Velocity[1] = velocities[1];
        this->Velocity[2] = velocities[2];
        this->VelocityAngular[0] = velocities[3];
        this->VelocityAngular[1] = velocities[4];
        this->VelocityAngular[2] = velocities[5];
        Mask.SetAll(true);
    }
 
    /*Set Translational Velocities only
      \param velocity translational velocity
      \return void
    */
    inline void SetTranslationGoal(const vctDouble3 & velocity)
    {
        this->Velocity.Assign(velocity);
        Mask[0] = Mask[1] = Mask[2] = true;
    }

    inline void SetRotationGoal(const vctDouble3 & velocityAngular)
    {
        this->VelocityAngular.Assign(velocityAngular);
        Mask[3] = Mask[4] = Mask[5] = true;
    }

    inline vctDouble3 GetGoal(void) const
    {
        return this->Velocity;
    }

    inline void SetVelocity(const vctDouble3 & velocity)
    {
        this->Velocity = velocity;
        Mask[0] = Mask[1] = Mask[2] = true;
    }

    inline vctDouble3 GetVelocity(void) const
    {
        return this->Velocity;
    }

    inline void SetAngularVelocity(const vctDouble3 & velocityAngular)
    {
        this->VelocityAngular = velocityAngular;
        Mask[3] = Mask[4] = Mask[5] = true;
    }

    inline vctDouble3 GetAngularVelocity(void) const
    {
        return this->VelocityAngular;
    }

    inline void SetAcceleration(const vctDouble3 & acceleration)
    {
        this->Acceleration = acceleration;
    }

    inline vctDouble3 GetAcceleration(void) const
    {
        return this->Acceleration;
    }

    inline void SetAngularAcceleration(const vctDouble3 & accelerationAngular)
    {
        this->AccelerationAngular = accelerationAngular;
    }

    inline vctDouble3 GetAngularAcceleration(void) const
    {
        return this->AccelerationAngular;
    }

    inline void SetMask(const vctBool6 & mask)
    {
        this->Mask = mask;
    }

    inline vctBool6 GetMask(void) const
    {
        return this->Mask;
    }
 

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

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