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EEPerturbation.h

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//
//      Title           : Perturbation.h
//      Project         : OSCAR Version 2.0
//      Created         : On a cloudy tuesday in March
//      Author          : Ross C. Taylor and Peter S. March
//      Platforms       : All
//      Copyright       : Copyright The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//      Purpose         : Class for perturbing vectors.
//
//----------------------------------------------------------------------------
//
//      $Revisions$
//
//

#ifndef EEPerturbation_h
#define EEPerturbation_h

#include "Base/Base.h"
#include "Math/HandPose.h"
#include "Math/VectorArray.h"
#include "Math/Vector3.h"
#include <vector>


namespace OSCAR {

  class EEPerturbation : public virtual Base
  {
  public:

    /* \brief Default constructor
    */
          EEPerturbation(double radius);

    /* \brief Destructor
    \sa EEPerturbation(double radius)
    */
          virtual ~EEPerturbation();

    /* \brief Set the position about which the perturbations will be generated
    \param inputHand the HandPose position about which the XYZ values will be perturbed
    \return true
    */
          void SetInput(const HandPose& inputHand);

          /*  \brief Returns the number of options that are generated
    */
    unsigned int GetNoOfOptions() const;

    /* \brief Copies the options into the argument
    \param outputs An VectorArray with NoOfOptions vectors, each of length 6
    */
          bool GetOptions(VectorArray& outputs);

    /*  \brief Set the perturbation radius for the EE location
    \param newRadius The radius to perturb the EE location
    */
    void SetRadius(double newRadius);

    /* \brief Returns the radius of perturbation for the EE location
    */
    double GetRadius() const;

  protected:
    void fillOne(Vector3& toFill, double theta, double phi);

    std::vector<Vector3> trigArray;
   HandPose   currentHand;
    double       perturbRadius;
    unsigned int noOfOptions;
  };

}

#endif // !defined(EEPerturbation_h)

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