prmInverseKinematicsRequest.h

Go to the documentation of this file.

// file automatically generated, do not modify
// cisst version: 1.5.0
// source file: /Users/anton/devel/cisst-saw-doxygen/tmp/cisst-saw/cisst/cisstParameterTypes/code/../prmInverseKinematicsRequest.cdg
 
#pragma once
#ifndef _cisstParameterTypes_prmInverseKinematicsRequest_h
#define _cisstParameterTypes_prmInverseKinematicsRequest_h
 
#include <cisstCommon/cmnDataFunctions.h>
#include <cisstCommon/cmnDataFunctionsEnumMacros.h>
#if CISST_HAS_JSON
#include <cisstCommon/cmnDataFunctionsJSON.h>
#endif // CISST_HAS_JSON
 
/* source line: 1 */
 
 
 
 
// for mts-proxy 
#include <cisstCommon/cmnClassServices.h>
#include <cisstCommon/cmnClassRegisterMacros.h>
#include <cisstMultiTask/mtsGenericObjectProxy.h>
 
/* source line: 1 */
/* source line: 4 */
 
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstVector/vctTransformationTypes.h>
#include <cisstMultiTask/mtsGenericObject.h>
// Always include last
#include <cisstParameterTypes/prmExport.h>
 
/* source line: 12 */
class CISST_EXPORT prmInverseKinematicsRequest: public mtsGenericObject
{
 /* default constructors and destructors. */
 public:
    prmInverseKinematicsRequest(void);
    prmInverseKinematicsRequest(const prmInverseKinematicsRequest & other);
    prmInverseKinematicsRequest & operator = (const prmInverseKinematicsRequest & other);
    ~prmInverseKinematicsRequest();
 
/* source line: 22 */
 protected:
    vctDynamicVector<double> mjp; // Reference joint position, usually the current robot position
 public:
    /* accessors is set to: all */
#ifndef SWIG
     void Getjp(vctDynamicVector<double> & placeHolder) const;
#endif
    inline  vctDynamicVector<double> Getjp(void) const {
        return mjp;
    }
     void Setjp(const vctDynamicVector<double> & newValue);
    /* accessors is set to: all */
     const vctDynamicVector<double> & jp(void) const;
     vctDynamicVector<double> & jp(void);
/* source line: 28 */
 protected:
    vctFrm4x4 mcp; // Cartesian pose
 public:
    /* accessors is set to: all */
#ifndef SWIG
     void Getcp(vctFrm4x4 & placeHolder) const;
#endif
    inline  vctFrm4x4 Getcp(void) const {
        return mcp;
    }
     void Setcp(const vctFrm4x4 & newValue);
    /* accessors is set to: all */
     const vctFrm4x4 & cp(void) const;
     vctFrm4x4 & cp(void);
/* source line: 34 */
 
    private:
        CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
        /* default methods */
 public:
    void SerializeRaw(std::ostream & outputStream) const override;
    void DeSerializeRaw(std::istream & inputStream) override;
    void ToStream(std::ostream & outputStream) const override;
    void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                     bool headerOnly = false, const std::string & headerPrefix = "") const override;
    /* default data methods */
 public:
    void Copy(const prmInverseKinematicsRequest & source);
    void SerializeBinary(std::ostream & outputStream) const CISST_THROW(std::runtime_error);
    void DeSerializeBinary(std::istream & inputStream, const cmnDataFormat & localFormat, const cmnDataFormat & remoteFormat) CISST_THROW(std::runtime_error);
    void SerializeText(std::ostream & outputStream, const char delimiter = ',') const CISST_THROW(std::runtime_error);
    std::string SerializeDescription(const char delimiter = ',', const std::string & userDescription = "") const;
    void DeSerializeText(std::istream & inputStream, const char delimiter = ',') CISST_THROW(std::runtime_error);
    std::string HumanReadable(void) const;
    bool ScalarNumberIsFixed(void) const override;
    size_t ScalarNumber(void) const override;
    double Scalar(const size_t index) const CISST_THROW(std::out_of_range) override;
    std::string ScalarDescription(const size_t index, const std::string & userDescription = "") const CISST_THROW(std::out_of_range) override;
#if CISST_HAS_JSON
    void SerializeTextJSON(Json::Value & jsonValue) const override;
    void DeSerializeTextJSON(const Json::Value & jsonValue) CISST_THROW(std::runtime_error) override;
#endif // CISST_HAS_JSON
 
}; // prmInverseKinematicsRequest
 
// mts-proxy set to true
typedef mtsGenericObjectProxy<prmInverseKinematicsRequest> prmInverseKinematicsRequestProxy;
CMN_DECLARE_SERVICES_INSTANTIATION(prmInverseKinematicsRequestProxy);
 
/* default functions */
void CISST_EXPORT cmnSerializeRaw(std::ostream & outputStream, const prmInverseKinematicsRequest & object);
void CISST_EXPORT cmnDeSerializeRaw(std::istream & inputStream, prmInverseKinematicsRequest & placeHolder);
/* data functions */
template <> class cmnData<prmInverseKinematicsRequest > {
public: 
    enum {IS_SPECIALIZED = 1};
    typedef prmInverseKinematicsRequest DataType;
    static void Copy(DataType & data, const DataType & source) {
        data.Copy(source);
    }
    static std::string SerializeDescription(const DataType & data, const char delimiter, const std::string & userDescription) {
        return data.SerializeDescription(delimiter, userDescription);
    }
    static void SerializeBinary(const DataType & data, std::ostream & outputStream) CISST_THROW(std::runtime_error) {
        data.SerializeBinary(outputStream);
    }
    static void DeSerializeBinary(DataType & data, std::istream & inputStream, const cmnDataFormat & localFormat, const cmnDataFormat & remoteFormat) CISST_THROW(std::runtime_error) {
        data.DeSerializeBinary(inputStream, localFormat, remoteFormat);
    }
    static void SerializeText(const DataType & data, std::ostream & outputStream, const char delimiter = ',') CISST_THROW(std::runtime_error) {
        data.SerializeText(outputStream, delimiter);
    }
    static void DeSerializeText(DataType & data, std::istream & inputStream, const char delimiter = ',') CISST_THROW(std::runtime_error) {
        data.DeSerializeText(inputStream, delimiter);
    }
    static std::string HumanReadable(const DataType & data) {
        return data.HumanReadable();
    }
    static bool ScalarNumberIsFixed(const DataType & data) {
        return data.ScalarNumberIsFixed();
    }
    static size_t ScalarNumber(const DataType & data) {
        return data.ScalarNumber();
    }
    static std::string ScalarDescription(const DataType & data, const size_t index, const std::string & userDescription = "") CISST_THROW(std::out_of_range) {
        return data.ScalarDescription(index, userDescription);
    }
    static double Scalar(const DataType & data, const size_t index) CISST_THROW(std::out_of_range) {
        return data.Scalar(index);
    }
};
inline std::ostream & operator << (std::ostream & outputStream, const prmInverseKinematicsRequest & data) {
    outputStream << cmnData<prmInverseKinematicsRequest >::HumanReadable(data);
    return outputStream;
}
#if CISST_HAS_JSON
template <> void CISST_EXPORT cmnDataJSON<prmInverseKinematicsRequest >::SerializeText(const prmInverseKinematicsRequest & data, Json::Value & jsonValue);
template <> void CISST_EXPORT cmnDataJSON<prmInverseKinematicsRequest >::DeSerializeText(prmInverseKinematicsRequest & data, const Json::Value & jsonValue) CISST_THROW(std::runtime_error);
#endif // CISST_HAS_JSON
 
/* source line: 41 */
 
CMN_DECLARE_SERVICES_INSTANTIATION(prmInverseKinematicsRequest);
 
 
#endif // _cisstParameterTypes_prmInverseKinematicsRequest_h