osaOSGManipulator.h

Go to the documentation of this file.

/*

  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 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 _osaOSGManipulator_h
#define _osaOSGManipulator_h

#include <cisstRobot/robManipulator.h>
#include <sawOpenSceneGraph/osaOSGBody.h>
#include <sawOpenSceneGraph/osaOSGWorld.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>

class CISST_EXPORT osaOSGManipulator : 

  public osg::Group,
  public robManipulator{

 protected:

  vctDynamicVector<double> q;

  osg::ref_ptr<osaOSGBody> base;

  osg::ref_ptr<osg::Group> osglinks;


  osaOSGManipulator( const vctFrame4x4<double>& Rtw0,
               const std::string& robotfile ) :
    robManipulator( robotfile, Rtw0 ),
    base( NULL ){}

  osaOSGManipulator( const vctFrm3& Rtw0,
               const std::string& robotfile ) :
    robManipulator( robotfile, vctFrame4x4<double>( Rtw0.Rotation(),
                            Rtw0.Translation()  ) ),
    base( NULL ){}

 public: 


  osaOSGManipulator( const std::vector<std::string>& models,
               osaOSGWorld* world,
               const vctFrame4x4<double>& Rtw0,
               const std::string& robfilename,
               const std::string& basemodel = "" );


  osaOSGManipulator( const std::vector<std::string>& models,
               osaOSGWorld* world,
               const vctFrm3& Rtw0,
               const std::string& robfilename,
               const std::string& basemodel = "" );

  ~osaOSGManipulator();

  void Initialize();


  virtual 
    osaOSGManipulator::Errno 
    GetPositions( vctDynamicVector<double>& q ) const;


  virtual 
    osaOSGManipulator::Errno 
    SetPositions( const vctDynamicVector<double>& q );

  unsigned int GetNumLinks();

  osaOSGBody* GetLink( size_t i );
  osaOSGBody* GetBase() 
  { return base.get(); }

  virtual void Attach( osaOSGManipulator* CMN_UNUSED(tool) ){}

};

#endif