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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_RIGIDSTATE_H
#define SURGSIM_PHYSICS_RIGIDSTATE_H
#include "SurgSim/Framework/Accessible.h"
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Physics
{
/// The RigidState class describes a state (position and velocity information).
class RigidState : public SurgSim::Framework::Accessible
{
public:
/// Default constructor
RigidState();
/// Default constructor
RigidState(const RigidState& rhs);
/// Copy assignment
/// \param rhs Right hand side RigidState from which data are copied.
/// \note 'm_functors' in base class Accessible is NOT copied.
RigidState& operator=(const RigidState& rhs);
/// Destructor
virtual ~RigidState();
SURGSIM_CLASSNAME(SurgSim::Physics::RigidState);
/// Comparison operator
/// \param rhs A RigidState to compare it to
/// \return True if the 2 states are equals, False otherwise
bool operator==(const RigidState& rhs) const;
/// Comparison operator
/// \param rhs A RigidState to compare it to
/// \return False if the 2 states are equals, True otherwise
bool operator!=(const RigidState& rhs) const;
/// Reset the state to default values
/// Vectors will be filled with 0
/// Rotations will be set to identity (quaternion or matrix type)
/// If you want to reset to initial values, you need to save them separately
/// in another RigidState and assign it to this instance.
void reset();
/// Get the linear velocity
/// \return the linear velocity
const SurgSim::Math::Vector3d& getLinearVelocity() const;
/// Get the angular velocity
/// \return the angular velocity
const SurgSim::Math::Vector3d& getAngularVelocity() const;
/// Set the linear velocity
/// \param v The linear velocity
void setLinearVelocity(const SurgSim::Math::Vector3d &v);
/// Set the angular velocity
/// \param w The angular velocity
void setAngularVelocity(const SurgSim::Math::Vector3d &w);
/// Set the rigid representation pose
/// \param pose The pose to set the rigid representation to
void setPose(const SurgSim::Math::RigidTransform3d& pose);
/// Get the rigid representation pose
/// \return A constant reference to the pose (read only)
const SurgSim::Math::RigidTransform3d& getPose() const;
private:
/// Register accessors of serializable properties
void addSerializableProperty();
/// Linear velocity
SurgSim::Math::Vector3d m_v;
/// Angular velocity
SurgSim::Math::Vector3d m_w;
/// Rigid representation pose (translation + rotation)
SurgSim::Math::RigidTransform3d m_pose;
};
}; // Physics
}; // SurgSim
#endif // SURGSIM_PHYSICS_RIGIDSTATE_H
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