prmMotionBase.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 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 _prmMotionBase_h
#define _prmMotionBase_h

// basic includes
#include <cisstMultiTask/mtsGenericObject.h>

#include <cisstParameterTypes/prmForwardDeclarations.h>


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

class CISST_EXPORT prmMotionBase: public mtsGenericObject
{
 public:

    typedef mtsGenericObject BaseType;

    /* default constructor*/
    inline prmMotionBase():
        BlockingFlagMember(NO_WAIT),
        BlendingFactorMember(false),
        IsPreemptableMember(true),
        IsCoordinatedMember(true),
        IsGoalOnlyMember(false)
    {}

    inline prmMotionBase(const prmBlocking & blockingFlag, 
                         const bool & blendingFactor,
                         const double & timeLimit,
                         const bool & isPreemptable,
                         const bool & isCoordinated,
                         const bool & isGoalOnly
                         ):
        BlockingFlagMember(blockingFlag), 
        BlendingFactorMember(blendingFactor),
        TimeLimitMember(timeLimit),
        IsPreemptableMember(isPreemptable),
        IsCoordinatedMember(isCoordinated),
        IsGoalOnlyMember(isGoalOnly)
    {}
    
    virtual ~prmMotionBase();
    
    inline void SetBaseParameter(const prmBlocking & blockingFlag, 
                                 const bool & blendingFactor, 
                                 const double & timeLimit,
                                 const bool & isPreemptable,
                                 const bool & isCoordinated,
                                 const bool & isGoalOnly)
    { 
        this->BlockingFlagMember = blockingFlag; 
        this->BlendingFactorMember = blendingFactor; 
        this->TimeLimitMember = timeLimit; 
        this->IsPreemptableMember = isPreemptable; 
        this->IsCoordinatedMember = isCoordinated; 
        this->IsGoalOnlyMember = isGoalOnly; 
    }



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

    void DeSerializeRaw(std::istream & inputStream);

   
    CMN_DECLARE_MEMBER_AND_ACCESSORS(prmBlocking, BlockingFlag);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, BlendingFactor);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(double, TimeLimit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsPreemptable);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsCoordinated);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsGoalOnly);


};


#endif  // _prmMotionBase_h