Localization.h

// 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_LOCALIZATION_H
#define SURGSIM_PHYSICS_LOCALIZATION_H

#include <memory>

#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Framework/Assert.h"

namespace SurgSim
{

namespace DataStructures
{
struct Location;
}

namespace Physics
{

class Representation;

class Localization
{
public:
    Localization();

    explicit Localization(std::shared_ptr<Representation> representation);

    virtual ~Localization();

    void setRepresentation(std::shared_ptr<Representation> representation);

    std::shared_ptr<Representation> getRepresentation() const;

    SurgSim::Math::Vector3d calculatePosition(double time = 1.0) const;

    SurgSim::Math::Vector3d calculateVelocity(double time = 1.0) const;

    virtual bool isValidRepresentation(std::shared_ptr<Representation> representation);

    virtual Math::RigidTransform3d getElementPose();

    virtual bool moveClosestTo(const Math::Vector3d& point, bool *hasReachedEnd);

    std::shared_ptr<Localization> copy() const;

private:
    virtual SurgSim::Math::Vector3d doCalculatePosition(double time) const = 0;

    virtual SurgSim::Math::Vector3d doCalculateVelocity(double time) const = 0;

    virtual std::shared_ptr<Localization> doCopy() const = 0;

    std::shared_ptr<Representation> m_representation;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_LOCALIZATION_H