RigidState.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_RIGIDSTATE_H
#define SURGSIM_PHYSICS_RIGIDSTATE_H

#include "SurgSim/Framework/Accessible.h"
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"

namespace SurgSim
{

namespace Physics
{

class RigidState : public SurgSim::Framework::Accessible
{
public:
    RigidState();

    RigidState(const RigidState& rhs);

    RigidState& operator=(const RigidState& rhs);

    virtual ~RigidState();

    SURGSIM_CLASSNAME(SurgSim::Physics::RigidState);

    bool operator==(const RigidState& rhs) const;

    bool operator!=(const RigidState& rhs) const;

    void reset();

    const SurgSim::Math::Vector3d& getLinearVelocity() const;

    const SurgSim::Math::Vector3d& getAngularVelocity() const;

    void setLinearVelocity(const SurgSim::Math::Vector3d &v);

    void setAngularVelocity(const SurgSim::Math::Vector3d &w);

    void setPose(const SurgSim::Math::RigidTransform3d& pose);

    const SurgSim::Math::RigidTransform3d& getPose() const;

private:
    void addSerializableProperty();

    SurgSim::Math::Vector3d m_v;

    SurgSim::Math::Vector3d m_w;

    SurgSim::Math::RigidTransform3d m_pose;
};

}; // Physics
}; // SurgSim

#endif // SURGSIM_PHYSICS_RIGIDSTATE_H