usVirtualSpring.cpp

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Author:
 * Jason Chevrie
 *
 *****************************************************************************/
 
#include <visp3/ustk_needle_modeling/usVirtualSpring.h>
 
usVirtualSpring::usVirtualSpring()
  : usOrientedPlane3D(), m_stiffness(0),
 
    m_IsActive(true), m_IsRemovable(true), m_AllowPositionUpdate(true), m_AllowDirectionUpdate(true),
    m_AllowStiffnessUpdate(true)
{
}
 
usVirtualSpring::usVirtualSpring(const usVirtualSpring &spring)
  : usOrientedPlane3D(spring),
 
    m_stiffness(spring.m_stiffness),
 
    m_IsActive(spring.m_IsActive), m_IsRemovable(spring.m_IsRemovable),
    m_AllowPositionUpdate(spring.m_AllowPositionUpdate), m_AllowDirectionUpdate(spring.m_AllowDirectionUpdate),
    m_AllowStiffnessUpdate(spring.m_AllowStiffnessUpdate)
{
}
 
usVirtualSpring::usVirtualSpring(const vpColVector &p, const vpColVector &d, double K)
  : usOrientedPlane3D(p, d), m_stiffness(0),
 
    m_IsActive(true), m_IsRemovable(true), m_AllowPositionUpdate(true), m_AllowDirectionUpdate(true),
    m_AllowStiffnessUpdate(true)
{
  this->setStiffness(K);
}
 
usVirtualSpring::~usVirtualSpring() {}
 
const usVirtualSpring &usVirtualSpring::operator=(const usVirtualSpring &spring)
{
  this->usOrientedPlane3D::operator=(spring);
  m_stiffness = spring.m_stiffness;
 
  m_IsActive = spring.m_IsActive;
  m_IsRemovable = spring.m_IsRemovable;
  m_AllowPositionUpdate = spring.m_AllowPositionUpdate;
  m_AllowDirectionUpdate = spring.m_AllowDirectionUpdate;
  m_AllowStiffnessUpdate = spring.m_AllowStiffnessUpdate;
 
  return *this;
}
 
void usVirtualSpring::setStiffness(double K)
{
  if (K > 0)
    m_stiffness = K;
}
 
double usVirtualSpring::getStiffness() const { return m_stiffness; }
 
void usVirtualSpring::addStiffness(double dK)
{
  if (m_stiffness + dK > 0)
    m_stiffness += dK;
}
 
void usVirtualSpring::Activate() { m_IsActive = true; }
 
void usVirtualSpring::Deactivate() { m_IsActive = false; }
 
bool usVirtualSpring::IsActive() const { return m_IsActive; }
 
void usVirtualSpring::AllowRemoval(bool flag) { m_IsRemovable = flag; }
 
bool usVirtualSpring::IsRemovable() const { return m_IsRemovable; }
 
void usVirtualSpring::AllowPositionUpdate(bool flag) { m_AllowPositionUpdate = flag; }
 
bool usVirtualSpring::IsPositionUpdateAllowed() const { return m_AllowPositionUpdate; }
 
void usVirtualSpring::AllowDirectionUpdate(bool flag) { m_AllowDirectionUpdate = flag; }
 
bool usVirtualSpring::IsDirectionUpdateAllowed() const { return m_AllowDirectionUpdate; }
 
void usVirtualSpring::AllowStiffnessUpdate(bool flag) { m_AllowStiffnessUpdate = flag; }
 
bool usVirtualSpring::IsStiffnessUpdateAllowed() const { return m_AllowStiffnessUpdate; }
 
std::ostream &operator<<(std::ostream &s, const usVirtualSpring &spg)
{
  s << "usVirtualSpring\n";
 
  s << *((usOrientedPlane3D *)&spg);
 
  s << spg.m_stiffness << '\n';
  s << spg.m_IsActive << '\n';
  s << spg.m_IsRemovable << '\n';
  s << spg.m_AllowPositionUpdate << '\n';
  s << spg.m_AllowDirectionUpdate << '\n';
  s << spg.m_AllowStiffnessUpdate << '\n';
  s.flush();
  return s;
}
 
std::istream &operator>>(std::istream &s, usVirtualSpring &spg)
{
  std::string c;
  s >> c;
  if (c != "usVirtualSpring") {
    vpException e(vpException::ioError,
                  "operator>>=(std::istream&, usVirtualSpring&): Stream does not contain usVirtualSpring data");
    throw e;
  }
 
  s >> *((usOrientedPlane3D *)&spg);
 
  s >> spg.m_stiffness;
  s >> spg.m_IsActive;
  s >> spg.m_IsRemovable;
  s >> spg.m_AllowPositionUpdate;
  s >> spg.m_AllowDirectionUpdate;
  s >> spg.m_AllowStiffnessUpdate;
  s.get();
 
  return s;
}
 
std::ostream &operator<<=(std::ostream &s, const usVirtualSpring &spg)
{
  s.write("usVirtualSpring", 16);
  s <<= *((usOrientedPlane3D *)&spg);
  s.write((char *)&(spg.m_stiffness), sizeof(double));
  s.write((char *)&(spg.m_IsActive), sizeof(bool));
  s.write((char *)&(spg.m_IsRemovable), sizeof(bool));
  s.write((char *)&(spg.m_AllowPositionUpdate), sizeof(bool));
  s.write((char *)&(spg.m_AllowDirectionUpdate), sizeof(bool));
  s.write((char *)&(spg.m_AllowStiffnessUpdate), sizeof(bool));
  s.flush();
  return s;
}
 
std::istream &operator>>=(std::istream &s, usVirtualSpring &spg)
{
  char c[16];
  s.read(c, 16);
  if (strcmp(c, "usVirtualSpring")) {
    vpException e(vpException::ioError,
                  "operator>>=(std::istream&, usVirtualSpring&): Stream does not contain usVirtualSpring data");
    throw e;
  }
  s >>= *((usOrientedPlane3D *)&spg);
 
  s.read((char *)&(spg.m_stiffness), sizeof(double));
  s.read((char *)&(spg.m_IsActive), sizeof(bool));
  s.read((char *)&(spg.m_IsRemovable), sizeof(bool));
  s.read((char *)&(spg.m_AllowPositionUpdate), sizeof(bool));
  s.read((char *)&(spg.m_AllowDirectionUpdate), sizeof(bool));
  s.read((char *)&(spg.m_AllowStiffnessUpdate), sizeof(bool));
  return s;
}