16 #ifndef SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
17 #define SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
32 namespace DataStructures
34 class DataGroupCopier;
58 const PoseType&
integrate(
const PoseType& pose);
82 void setReset(
const std::string& name);
95 std::shared_ptr<SurgSim::DataStructures::DataGroupCopier>
m_copier;
113 #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H
Definition: DriveElementFromInputBehavior.cpp:27
PoseType m_poseResult
The result of integrating the input poses.
Definition: PoseIntegrator.h:86
virtual bool requestOutput(const std::string &device, SurgSim::DataStructures::DataGroup *outputData) override
Asks the producer to provide output state to the device.
Definition: PoseIntegrator.cpp:160
A device filter that integrates the pose, turning a relative device into an absolute one...
Definition: PoseIntegrator.h:44
PoseIntegrator(const std::string &name)
Constructor.
Definition: PoseIntegrator.cpp:33
std::shared_ptr< SurgSim::DataStructures::DataGroupCopier > m_copier
A copier into the input DataGroup, if needed.
Definition: PoseIntegrator.h:95
std::string m_resetName
The name of the reset boolean (if any).
Definition: PoseIntegrator.h:98
Timer class, measures execution times.
Definition: Timer.h:29
const PoseType & integrate(const PoseType &pose)
Integrates the pose.
Definition: PoseIntegrator.cpp:44
int m_angularVelocityIndex
Definition: PoseIntegrator.h:104
int m_resetIndex
Definition: PoseIntegrator.h:105
virtual bool initialize() override
Fully initialize the device.
Definition: PoseIntegrator.cpp:52
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: PoseIntegrator.cpp:101
virtual bool finalize() override
Finalize (de-initialize) the device.
Definition: PoseIntegrator.cpp:57
A collection of NamedData objects.
Definition: DataGroup.h:66
SurgSim::Framework::Timer m_timer
A timer for the update rate needed for calculating velocity.
Definition: PoseIntegrator.h:89
void setReset(const std::string &name)
Sets the string name of the boolean entry that will reset the pose to its initial value...
Definition: PoseIntegrator.cpp:170
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
bool m_firstInput
true if the input DataGroup should be created.
Definition: PoseIntegrator.h:92
int m_poseIndex
Definition: PoseIntegrator.h:102
virtual void initializeInput(const std::string &device, const SurgSim::DataStructures::DataGroup &inputData) override
Set the initial input data group.
Definition: PoseIntegrator.cpp:62
SurgSim::Math::RigidTransform3d PoseType
The type used for poses.
Definition: PoseIntegrator.h:49
int m_linearVelocityIndex
Definition: PoseIntegrator.h:103