igtlPositionMessage.h

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/*=========================================================================
 
  Program:   The OpenIGTLink Library
  Language:  C++
  Web page:  http://openigtlink.org/
 
  Copyright (c) Insight Software Consortium. All rights reserved.
 
  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.  See the above copyright notices for more information.
 
=========================================================================*/
 
#ifndef __igtlPositionMessage_h
#define __igtlPositionMessage_h
 
#include "igtlObject.h"
#include "igtlMath.h"
#include "igtlMessageBase.h"
#include "igtlTypes.h"
 
namespace igtl
{
 
class IGTLCommon_EXPORT PositionMessage: public MessageBase
{
public:
 
  enum {
    POSITION_ONLY =  1,
    WITH_QUATERNION3,
    ALL,
  };
 
public:
  typedef PositionMessage                Self;
  typedef MessageBase                    Superclass;
  typedef SmartPointer<Self>             Pointer;
  typedef SmartPointer<const Self>       ConstPointer;
 
  igtlTypeMacro(igtl::PositionMessage, igtl::MessageBase);
  igtlNewMacro(igtl::PositionMessage);
 
public:
 
  void         Init();
 
  void         SetPackType(int t); /* POSITION_ONLY / WITH_QUATERNION3 / ALL */
 
  int          GetPackType()  { return  m_PackType; };
 
  int          SetPackTypeByContentSize(int s);
 
  void         SetPosition(const float* pos);
 
  void         SetPosition(float x, float y, float z);
 
  void         SetQuaternion(const float* quat);
 
  void         SetQuaternion(float ox, float oy, float oz, float w);
 
  void         GetPosition(float* pos);
 
  void         GetPosition(float* x, float* y, float* z);
 
  void         GetQuaternion(float* quat);
 
  void         GetQuaternion(float* ox, float* oy, float* oz, float* w);
 
  // TODO: Is this needed or integrated in igtlMessageBase?
  virtual int SetMessageHeader(const MessageHeader* mb);
 
protected:
  PositionMessage();
  ~PositionMessage();
  
protected:
 
  virtual int  CalculateContentBufferSize();
  virtual int  PackContent();
  virtual int  UnpackContent();
 
  igtlInt32    m_PackType;
 
  igtlFloat32  m_Position[3];
 
  igtlFloat32  m_Quaternion[4];
 
};
 
 
} // namespace igtl
 
#endif // _igtlPositionMessage_h