MultiAxisDevice.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_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H
#define SURGSIM_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H

#include <memory>
#include <string>

#include "SurgSim/Devices/DeviceFilters/FilteredDevice.h"
#include "SurgSim/Input/CommonDevice.h"

namespace SurgSim
{
namespace Devices
{

class RawMultiAxisDevice;
class PoseIntegrator;

SURGSIM_STATIC_REGISTRATION(MultiAxisDevice);

class MultiAxisDevice : public FilteredDevice
{
public:
    explicit MultiAxisDevice(const std::string& uniqueName);

    SURGSIM_CLASSNAME(SurgSim::Devices::MultiAxisDevice);

    void setPositionScale(double scale);

    double getPositionScale() const;

    void setOrientationScale(double scale);

    double getOrientationScale() const;

    void setAxisDominance(bool onOff);

    bool isUsingAxisDominance() const;

    void setReset(const std::string& name);

private:
    static double defaultPositionScale();

    static double defaultOrientationScale();

    std::shared_ptr<RawMultiAxisDevice> m_rawDevice;

    std::shared_ptr<PoseIntegrator> m_filter;
};

};  // namespace Devices
};  // namespace SurgSim

#endif  // SURGSIM_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H