PoseTransform.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H
17 #define SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H
18 
19 #include <boost/thread/mutex.hpp>
20 #include <memory>
21 #include <string>
22 
28 #include "SurgSim/Math/Vector.h"
29 
30 namespace SurgSim
31 {
32 
33 namespace Device
34 {
55 {
56 public:
59  explicit PoseTransform(const std::string& name);
60 
62  virtual ~PoseTransform();
63 
68  virtual bool initialize() override;
69 
74  virtual void initializeInput(const std::string& device,
75  const SurgSim::DataStructures::DataGroup& inputData) override;
76 
82  virtual void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override;
83 
92  virtual bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override;
93 
98  void setTranslationScale(double translationScale);
99 
104  void setTransform(const SurgSim::Math::RigidTransform3d& transform);
105 
106 private:
109  virtual bool finalize() override;
110 
115  void inputFilter(const SurgSim::DataStructures::DataGroup& dataToFilter,
117 
125  void outputFilter(const SurgSim::DataStructures::DataGroup& dataToFilter,
127 
129  boost::mutex m_mutex;
130 
133 
136 
139 
153 
156 };
157 
158 }; // namespace Device
159 }; // namespace SurgSim
160 
161 #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H
Definition: DriveElementFromInputBehavior.cpp:27
virtual bool finalize() override
Finalize (de-initialize) the device.
Definition: PoseTransform.cpp:60
boost::mutex m_mutex
The mutex that protects the transform and scaling factor.
Definition: PoseTransform.h:129
bool m_cachedOutputIndices
True if the output DataGroup indices have been cached.
Definition: PoseTransform.h:155
int m_angularVelocityIndex
Definition: PoseTransform.h:144
virtual bool requestOutput(const std::string &device, SurgSim::DataStructures::DataGroup *outputData) override
Asks the producer to provide output state to the device.
Definition: PoseTransform.cpp:80
Interface for a producer that generates device output updates (forces, status LED state...
Definition: OutputProducerInterface.h:33
virtual bool initialize() override
Fully initialize the device.
Definition: PoseTransform.cpp:55
int m_inputLinearVelocityIndex
Definition: PoseTransform.h:150
int m_torqueIndex
Definition: PoseTransform.h:146
double m_translationScale
The scaling factor applied to each direction of the translation.
Definition: PoseTransform.h:138
int m_inputPoseIndex
Definition: PoseTransform.h:148
SurgSim::Math::RigidTransform3d m_transformInverse
The inverse of the pre-transform.
Definition: PoseTransform.h:135
int m_forceIndex
Definition: PoseTransform.h:145
virtual void handleInput(const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
Notifies the consumer that the application input coming from the device has been updated.
Definition: PoseTransform.cpp:74
A device filter that transforms the input pose.
Definition: PoseTransform.h:53
int m_linearVelocityIndex
Definition: PoseTransform.h:143
Interface for a consumer that monitors device and signal state updates (pose, buttons, etc).
Definition: InputConsumerInterface.h:33
A collection of NamedData objects.
Definition: DataGroup.h:66
Definitions of 2x2 and 3x3 rigid (isometric) transforms.
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
int m_damperJacobianIndex
Definition: PoseTransform.h:149
Definitions of small fixed-size vector types.
SurgSim::Math::RigidTransform3d m_transform
The constant pre-transform.
Definition: PoseTransform.h:132
void setTranslationScale(double translationScale)
Set the translation scale factor so that each direction has the same scale.
Definition: PoseTransform.cpp:265
virtual ~PoseTransform()
Destructor.
Definition: PoseTransform.cpp:50
A class that implements some common management code on top of the DeviceInterface.
Definition: CommonDevice.h:34
int m_poseIndex
Definition: PoseTransform.h:142
int m_springJacobianIndex
Definition: PoseTransform.h:147
void inputFilter(const SurgSim::DataStructures::DataGroup &dataToFilter, SurgSim::DataStructures::DataGroup *result)
Filter the input data.
Definition: PoseTransform.cpp:106
int m_inputAngularVelocityIndex
Definition: PoseTransform.h:151
virtual void initializeInput(const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
Set the initial input data.
Definition: PoseTransform.cpp:65
void outputFilter(const SurgSim::DataStructures::DataGroup &dataToFilter, SurgSim::DataStructures::DataGroup *result)
Filter the output data.
Definition: PoseTransform.cpp:147
void setTransform(const SurgSim::Math::RigidTransform3d &transform)
Set the constant transform.
Definition: PoseTransform.cpp:271
PoseTransform(const std::string &name)
Constructor.
Definition: PoseTransform.cpp:31