prmTransformationBase.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 _prmTransformationBase_h
#define _prmTransformationBase_h


#include <cisstCommon/cmnGenericObjectProxy.h>
#include <cisstCommon/cmnClassRegisterMacros.h>
#include <cisstVector/vctTransformationTypes.h>

#include <cisstMultiTask/mtsFunctionRead.h>
#include <cisstParameterTypes/prmForwardDeclarations.h>

// probably best to include streams
#include <iostream>
#include <list>
#include <algorithm>

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


typedef prmTransformationBase* prmTransformationBasePtr;                 //convenience type for base class

// typedef std::list<prmTransformationBasePtr> prmTransformationNodeList;   //list of nodes in the tree


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

public:
    typedef std::list<prmTransformationBasePtr> NodeListType;

private:
    bool Visited;
    
    bool IsLinked(const prmTransformationBasePtr & him) const; 

    bool IsChildOf(const prmTransformationBasePtr & him) const;
    
    bool IsParentOf(const prmTransformationBasePtr & him) const;

protected:
    
    std::string Name;
    
    prmTransformationBasePtr Parent;
    
    NodeListType Children;

public:

    inline prmTransformationBase(void):
        Name("Undefined"),
        Parent(NULL),
        Children()  
    {
        /* RK: No longer attaches itsself to the world by default, parent is NULL, until reference frame is set.       
        */
    }
    
    inline prmTransformationBase(const std::string & name):
        Name(name),
        Parent(NULL),
        Children()
    {
        /* RK: No longer attaches itsself to the world by default, parent is NULL until reference frame is set.    
        */
    }
    
    virtual ~prmTransformationBase();

    prmTransformationBasePtr WorldFrame(void);
    
    bool SetReferenceFrame(const prmTransformationBasePtr & newReference); 
    bool SetReferenceFrame(const std::string & parentName); 
    
    inline prmTransformationBasePtr GetReferenceFrame(void) const 
    {
        return Parent;
    }
    
    inline const std::string & GetName(void) const 
    {
        return this->Name;
    }
    
    inline void SetName(const std::string & name) 
    {
        this->Name = name;
    }
    
    virtual vctFrm3 WRTReference(void) const = 0;

}; //prmTransformationBase


CMN_DECLARE_SERVICES_INSTANTIATION(prmTransformationBase);


#endif // _prmTransformationBase_h