kdlTypekit.hpp

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/******************************************************************************
*                   This file is part of the KDL project                      *
*                                                                             *
*                     (C) 2010 Ruben Smits                                    *
*                         2010 Steven Bellens                                 *
*                     ruben.smits@mech.kuleuven.be                            *
*                     steven.bellens@mech.kuleuven.be                         *
*                    Department of Mechanical Engineering,                    *
*                   Katholieke Universiteit Leuven, Belgium.                  *
*                                                                             *
*       You may redistribute this software and/or modify it under either the  *
*       terms of the GNU Lesser General Public License version 2.1 (LGPLv2.1  *
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/* @Description:
 * @brief KDL typekit for Orocos RTT
 * @Author: Ruben Smits, Steven Bellens
 */

#ifndef ORO_KDL_TYPEKIT_HPP
#define ORO_KDL_TYPEKIT_HPP

#include "kdlTypekitTypes.hpp"
#include <rtt/types/TypekitPlugin.hpp>
#include <kdl/frames.hpp>
#include <rtt/types/Types.hpp>
#include <rtt/types/TemplateTypeInfo.hpp>
#include <rtt/types/SequenceTypeInfo.hpp>
#include <rtt/types/StructTypeInfo.hpp>
#include <rtt/types/Operators.hpp>
#include <rtt/types/OperatorTypes.hpp>
#include <rtt/internal/mystd.hpp>
#include <rtt/os/StartStopManager.hpp>
#include <rtt/internal/GlobalService.hpp>

#include <kdl/frames_io.hpp>

#include <kdl/jntarray.hpp>
#include <kdl/jacobian.hpp>

#include "motionproperties.hpp"
#include "kinfamproperties.hpp"

namespace KDL
{
  using namespace RTT;
  using namespace RTT::detail;
  using namespace std;

  class KDLTypekitPlugin
    : public RTT::types::TypekitPlugin
  {
  public:
    virtual std::string getName();

    virtual bool loadTypes();
    virtual bool loadConstructors();
    virtual bool loadOperators();
  };

  template<class KDLType>
  struct KDLTypeInfo
    : public StructTypeInfo<KDLType,true>
  {
    KDLTypeInfo(std::string name) : StructTypeInfo<KDLType,true>(name) {}
    
    virtual bool decomposeTypeImpl(const KDLType& source, PropertyBag& targetbag ) const {
      decomposeProperty( source, targetbag );
      return true;
    }
    
    virtual bool composeTypeImpl(const PropertyBag& source, KDLType& result) const {
      return composeProperty( source, result );
    }
  };

  extern KDLTypekitPlugin KDLTypekit;
}
#endif