robot/sim/VisualIKORTest

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file 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 2 of the License, or
  (at your option) any later version.
  
  This program 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. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: VisualIKORTest 1033 2004-02-11 20:47:52Z jungd $
  $Revision: 1.3 $
  $Date: 2004-02-11 15:47:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_SIM_VISUALIKORTEST_
#define _ROBOT_SIM_VISUALIKORTEST_

#include <robot/sim/sim>

#include <robot/sim/IKORTest>

#include <base/DOM>
#include <gfx/Visual>
#include <gfx/Segment3>
#include <gfx/Color4>
#include <robot/sim/BasicEnvironment>

#include <osg/Switch>
#include <osg/Array>
#include <osg/Geometry>


namespace robot {
namespace sim {


/// provides a Visual to display IKORTest results
class VisualIKORTest :  public IKORTest, public gfx::Visual
{
public:
  VisualIKORTest(ref<base::VFile> testSpecification,
                 ref<base::VFileSystem> fs, ref<base::Cache> cache);

  virtual String className() const { return String("VisualIKORTest"); }

  
  // Visual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Attributes visualAttributes=0) const;
  
  virtual void updateVisuals() const;
  
  
  // Externalizable
  virtual bool formatSupported(const String format, Real version = 1.0, ExternalizationType type = IO) const
    { return (    ((format=="svg") && (version==1.0) && (type==Externalizable::Output))
               || IKORTest::formatSupported(format,version,type)); }

  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0);


protected:

  typedef base::array<gfx::Segment3> LineSegArray;

  // helpers for rendering line diagram of test results
  static LineSegArray manipToolAsLines(const KinematicChain& chain, const Vector& q, Int numPlatformLinks);
  static LineSegArray platformAsLines(ref<const PlatformDescription> platfDescr, const KinematicChain& platfChain, const Vector& q, Real steerAngle);
  static LineSegArray obstaclesAsLines(ref<const BasicEnvironment> env);
  static LineSegArray trajectoryAsLines(const array<base::Vector>& xs);
  
  // cached OSGVisual & construction helpers
  mutable Visual::Attributes attributes;
  mutable osg::ref_ptr<osg::Switch> node;

  static osg::Vec3Array* newVertexArrayFromLines(const LineSegArray& lines);
  static osg::Geometry* newGeometryFromLines(const LineSegArray& lines, const gfx::Color4& color);
  
  osg::Node* osgCreateAxes() const;
  osg::Node* osgCreateObstacles() const;
  osg::Node* osgCreateManipulator() const;
  osg::Node* osgCreateTrajectory() const;
  
  mutable array< osg::ref_ptr<osg::Switch> > testPlatfSwitches; ///< one Switch per test, where children are joint space configurations of platform
  mutable array< osg::ref_ptr<osg::Switch> > testManipSwitches; ///< one Switch per test, where children are joint space configurations of manipulator

  
  // helpers for SVG output
  base::Matrix4 svgTransform;
  void svgLine(base::Externalizer& e, base::dom::DOMElement* svgElem, const gfx::Segment3& line) const;
  void svgLines(base::Externalizer& e, base::dom::DOMElement* svgElem, const LineSegArray& lines) const;
  void svgText(base::Externalizer& e, base::dom::DOMElement* svgElem, const Point3& pos, const String& text, Real size=11) const;
  void svgOutputAxes(base::Externalizer& e, base::dom::DOMElement* svgElem) const;
  
};


} // namespace sim
} // namespace robot

#endif

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