include/barrett/systems/tool_orientation.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett 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 General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * tool_orientation.h
 *
 *  Created on: Jan 21, 2010
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_TOOL_ORIENTATION_H_
#define BARRETT_SYSTEMS_TOOL_ORIENTATION_H_

#include <iostream>

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <gsl/gsl_matrix.h>

#include <barrett/detail/ca_macro.h>
#include <barrett/units.h>
#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>
#include <barrett/systems/kinematics_base.h>


namespace barrett {
namespace systems {


// yields a quaternion representing the rotation from the world frame to the tool frame.
template<size_t DOF>
class ToolOrientation : public System, public KinematicsInput<DOF>,
                                                public SingleOutput<Eigen::Quaterniond> {
public:
        ToolOrientation(const std::string& sysName = "ToolOrientation") :
                System(sysName), KinematicsInput<DOF>(this),
                SingleOutput<Eigen::Quaterniond>(this), rot(), data() {}
        virtual ~ToolOrientation() { mandatoryCleanUp(); }

protected:
        virtual void operate() {
                rot.copyFrom(this->kinInput.getValue().impl->tool->rot_to_world);
                data = rot.transpose(); // Transpose to get world-to-tool rotation

                this->outputValue->setData(&data);
        }

        math::Matrix<3,3> rot;
        Eigen::Quaterniond data;

private:
        DISALLOW_COPY_AND_ASSIGN(ToolOrientation);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


}
}


#endif /* BARRETT_SYSTEMS_TOOL_ORIENTATION_H_ */