motion_observer.h

/* Copyright (C) 2004-2024 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 _MBSIMCONTROl_MOTION_OBSERVER_H__
#define _MBSIMCONTROl_MOTION_OBSERVER_H__
 
#include "mbsim/observers/observer.h"
 
//#include <mbsim/utils/boost_parameters.h>
//#include <mbsim/utils/openmbv_utils.h>
 
namespace OpenMBV {
  class RigidBody;
}
 
namespace MBSim {
  class Frame;
}
 
namespace MBSimControl {
  
  class Signal;
 
  class MotionObserver : public MBSim::Observer {
    protected:
      std::string saved_frame, saved_position_signal, saved_orientation_signal;
      MBSim::Frame* frame{nullptr};
      Signal *position{nullptr};
      Signal *orientation{nullptr};
      std::shared_ptr<OpenMBV::RigidBody> openMBVBody;
      fmatvec::Vec3 rOQ, rOP, rPQ, cardan;
      fmatvec::SqrMat3 AIK, AIB, ABK;
 
    public:
      MotionObserver(const std::string &name="");
      void setFrameOfReference(MBSim::Frame *frame_) { frame = frame_; }
      void setPositionSignal(Signal* position_) { position = position_; }
      void setOrientationSignal(Signal* orientation_) { orientation = orientation_; }
      void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      void plot() override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
  };
 
}  
 
#endif