PoseInterpolator.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, 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_BLOCKS_POSEINTERPOLATOR_H
#define SURGSIM_BLOCKS_POSEINTERPOLATOR_H

#include <memory>
#include <string>

#include "SurgSim/DataStructures/OptionalValue.h"
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Math/RigidTransform.h"


namespace SurgSim
{
namespace Framework
{
class SceneElement;
}
}

namespace SurgSim
{
namespace Blocks
{

class PoseInterpolator : public SurgSim::Framework::Behavior
{
public:

    explicit PoseInterpolator(const std::string& name);

    void setStartingPose(const SurgSim::Math::RigidTransform3d& transform);

    void setEndingPose(const SurgSim::Math::RigidTransform3d& transform);

    void setTarget(std::shared_ptr<SurgSim::Framework::SceneElement> target);

    void setDuration(double t);

    double getDuration() const;

    void setLoop(bool val);

    bool isLoop() const;

    void setPingPong(bool val);

    bool isPingPong() const;

    void update(double dt) override;

private:

    SurgSim::DataStructures::OptionalValue<SurgSim::Math::RigidTransform3d> m_optionalStartPose;

    SurgSim::Math::RigidTransform3d m_startingPose;

    SurgSim::Math::RigidTransform3d m_endingPose;

    std::shared_ptr<SurgSim::Framework::SceneElement> m_target;

    double m_duration;

    double m_currentTime;

    bool m_pingpong;

    bool m_loop;

    bool doWakeUp() override;

    bool doInitialize() override;

    void doRetire() override;
};


}; // Blocks
}; // Surgsim

#endif