frame_observer.h

/* Copyright (C) 2004-2017 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@gmail.com
 */
 
#ifndef _FRAME_OBSERVER_H__
#define _FRAME_OBSERVER_H__
 
#include "mbsim/observers/observer.h"
 
#include <mbsim/utils/boost_parameters.h>
#include <mbsim/utils/openmbv_utils.h>
 
namespace MBSim {
 
  class Frame;
 
  class FrameObserver : public Observer {
    protected:
      Frame* frame;
      std::string saved_frame;
      std::shared_ptr<OpenMBVArrow> ombvPositionArrow, ombvVelocityArrow, ombvAngularVelocityArrow, ombvAccelerationArrow, ombvAngularAccelerationArrow;
      std::shared_ptr<OpenMBV::Arrow> openMBVPosition, openMBVVelocity, openMBVAngularVelocity, openMBVAcceleration, openMBVAngularAcceleration;
#ifndef SWIG
      double (FrameObserver::*evalOMBVPositionColorRepresentation[2])();
      double (FrameObserver::*evalOMBVVelocityColorRepresentation[2])();
      double (FrameObserver::*evalOMBVAngularVelocityColorRepresentation[2])();
      double (FrameObserver::*evalOMBVAccelerationColorRepresentation[2])();
      double (FrameObserver::*evalOMBVAngularAccelerationColorRepresentation[2])();
#endif
      double evalNone() { return 0.5; }
      double evalAbsolutePosition();
      double evalAbsoluteVelocitiy();
      double evalAbsoluteAngularVelocitiy();
      double evalAbsoluteAcceleration();
      double evalAbsoluteAngularAcceleration();
 
    public:
      FrameObserver(const std::string &name="");
      void setFrame(Frame *frame_) { frame = frame_; } 
      void setOutputFrame(Frame *outputFrame_) { outputFrame = outputFrame_; }
 
      void init(InitStage stage, const InitConfigSet &config);
      void plot();
      void initializeUsingXML(xercesc::DOMElement *element);
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVPosition, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvPositionArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVVelocity, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvVelocityArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAngularVelocity, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvAngularVelocityArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAcceleration, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvAccelerationArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAngularAcceleration, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvAngularAccelerationArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
    private:
      Frame *outputFrame { nullptr };
      std::string saved_outputFrame;
  };
 
}  
 
#endif