RawMultiAxisDevice.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_RAWMULTIAXISDEVICE_H
#define SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISDEVICE_H

#include <memory>
#include <string>

#include "SurgSim/Input/CommonDevice.h"
#include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h"

namespace SurgSim
{
namespace Devices
{
class RawMultiAxisScaffold;

SURGSIM_STATIC_REGISTRATION(RawMultiAxisDevice);

class RawMultiAxisDevice : public SurgSim::Input::CommonDevice
{
public:
    explicit RawMultiAxisDevice(const std::string& uniqueName);

    SURGSIM_CLASSNAME(SurgSim::Devices::RawMultiAxisDevice);

    virtual ~RawMultiAxisDevice();

    bool initialize() override;

    bool isInitialized() const override;

    void setPositionScale(double scale);
    double getPositionScale() const;

    void setOrientationScale(double scale);
    double getOrientationScale() const;

    void setAxisDominance(bool onOff);
    bool isUsingAxisDominance() const;

private:
    bool finalize() override;

    // Returns the default position scale, in meters per tick.
    static double defaultPositionScale()
    {
        // the position scale from Paul N's measurements of the SpaceNavigator; 1/16"/350 ticks
        return 0.0000045;
    }

    // Returns the default rotation scale, in radians per tick.
    static double defaultOrientationScale()
    {
        // the rotation scale from Paul N's measurements of the SpaceNavigator
        return 0.0003;
    }


    friend SurgSim::Devices::MultiAxisDevice::MultiAxisDevice(const std::string& uniqueName);
    friend class RawMultiAxisScaffold;

    std::shared_ptr<RawMultiAxisScaffold> m_scaffold;

    double m_positionScale;
    double m_orientationScale;
    bool m_useAxisDominance;
};

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

#endif  // SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISDEVICE_H