SkeletonRepresentation.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_GRAPHICS_SKELETONREPRESENTATION_H
#define SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H

#include <string>

#include "SurgSim/Framework/FrameworkConvert.h"
#include "SurgSim/Graphics/Model.h"
#include "SurgSim/Graphics/Representation.h"
#include "SurgSim/Math/MathConvert.h"
#include "SurgSim/Math/RigidTransform.h"


namespace SurgSim
{

namespace Graphics
{

class SkeletonRepresentation : public virtual Representation
{
public:

    explicit SkeletonRepresentation(const std::string& name): Representation(name)
    {
        SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, std::shared_ptr<SurgSim::Framework::Asset>,
            Model, getModel, setModel);

        // Enables the alternative use of the model file instead of the actual mesh object
        DecoderType decoder = std::bind(&SkeletonRepresentation::loadModel,
            this,
            std::bind(&YAML::Node::as<std::string>, std::placeholders::_1));
        setDecoder("ModelFileName", decoder);

        SetterType setter = std::bind(&SkeletonRepresentation::loadModel,
            this,
            std::bind(SurgSim::Framework::convert<std::string>, std::placeholders::_1));

        setSetter("ModelFileName", setter);

        typedef std::map<std::string, SurgSim::Math::RigidTransform3d> PoseMap;
        SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, PoseMap,
            NeutralPoses, getNeutralBonePoses, setNeutralBonePoses);
    }

    virtual void loadModel(const std::string& fileName) = 0;

    virtual void setModel(std::shared_ptr<SurgSim::Framework::Asset> model) = 0;

    virtual std::shared_ptr<Model> getModel() const = 0;

    virtual void setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0;

    virtual SurgSim::Math::RigidTransform3d getBonePose(const std::string& name) const = 0;

    virtual void setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0;

    virtual SurgSim::Math::RigidTransform3d getNeutralBonePose(const std::string& name) const = 0;

protected:
    virtual void setNeutralBonePoses(const std::map<std::string, SurgSim::Math::RigidTransform3d>& poses) = 0;

    virtual std::map<std::string, SurgSim::Math::RigidTransform3d> getNeutralBonePoses() const = 0;
};

};  // namespace Graphics
};  // namespace SurgSim

#endif  // SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H