motionproperties.hpp

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/******************************************************************************
*                    This file is part of the KDL project                     *
*                                                                             *
*                         (C) 2004 Peter Soetens                              *
*                       peter.soetens@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  *
*       <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>) or (at your *
*       discretion) of the Modified BSD License:                              *
*       Redistribution and use in source and binary forms, with or without    *
*       modification, are permitted provided that the following conditions    *
*       are met:                                                              *
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*       notice, this list of conditions and the following disclaimer.         *
*       2. Redistributions in binary form must reproduce the above copyright  *
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*       documentation and/or other materials provided with the distribution.  *
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*                                                                             *
*******************************************************************************/
/* @Description:
 * @brief KDL typekit for Orocos RTT
 * @Author: Peter Soetens
 */

#ifndef MOTIONPROPERTIES_HPP
#define MOTIONPROPERTIES_HPP

#include <kdl/frames.hpp>
#include <rtt/Property.hpp>
#include <rtt/PropertyBag.hpp>
#include <rtt/extras/MultiVector.hpp>
#include <rtt/types/TemplateTypeInfo.hpp>
#include <rtt/typekit/RealTimeTypekit.hpp>

#include <sstream>

namespace RTT
{
    using namespace KDL;
//    /**
//     * Additional functionality for handling a Property<JntArray>
//     */
//    void decomposeProperty(const JntArray &v, PropertyBag& targetbag );
//
//    /**
//     * Aim of this kind of functions : given a Property<PropertyBag> with one of the
//     * properties being a bag containing a JntArray, fill the given non primitive Property<T>.
//     */
//    bool composeProperty(const PropertyBag& bag, JntArray &v);
//

    void decomposeProperty(const Vector &v, PropertyBag& targetbag );

    bool composeProperty(const PropertyBag& bag, Vector &v);


    void decomposeProperty(const Rotation &b, PropertyBag& targetbag);

    bool composeProperty(const PropertyBag& bag, Rotation &r);

    void decomposeProperty(const KDL::Twist &t, PropertyBag& targetbag);

    bool composeProperty(const PropertyBag& bag, KDL::Twist &t);

    void decomposeProperty( const KDL::Wrench &b, PropertyBag& targetbag);

    bool composeProperty(const PropertyBag& bag, KDL::Wrench &w);

    void decomposeProperty(const KDL::Frame &f, PropertyBag& target);

    bool composeProperty(const PropertyBag& bag, KDL::Frame &f);
}

namespace RTT
{
    extern template class Property<KDL::Frame>;
    //extern template class Property<KDL::JntArray>;
    extern template class Property<KDL::Wrench>;
    extern template class Property<KDL::Twist>;
    extern template class Property<KDL::Rotation>;
    extern template class Property<KDL::Vector>;
}

#endif