---

HandPose.h

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//
//    Title     :  HandPose.h
//    Project     :  OSCAR Version 2.0
//    Created     :  1/04/1996
//    Author      :  Chetan Kapoor
//    Platforms   :  All
//    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//          This software and documentation constitute an unpublished work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     :  This file contains the declaration of class HandPose
//               (A six long vector holding x, y, z coordinates and the
//              orientation called Roll Pitch Yaw over here. Could be
//              anything though).
//
//-----------------------------------------------------------------------------
//
//    $Revisions$
//
//      1-30-97 Troy Harden
//        I overloaded the () operator to allow changing of vector values.
//
//      9-25-02 Chetan Kapoor
//        Modified HandPose to now use the functionality of Orientation
//        Added Get/Set methods to convert to and from other objects
//
//    $Log: HandPose.h,v $
//    Revision 1.11  2005/03/18 23:05:23  chetan
//    Fixed g++ compile warnings. Removed virtual inheritance from Base, added initialization of base class in copy constructors, added newline at EOF
//
//    Revision 1.10  2005/03/14 22:04:16  pmarch
//    Added to namespace OSCAR and removed "RR" from front of class names.
//
//    Revision 1.9  2005/01/06 22:54:41  chetan
//    Added default constructors
//
//    Revision 1.8  2004/07/19 20:02:07  djung
//    DUMMY_ERROR fix fix
//
//    Revision 1.7  2004/07/19 16:37:03  edjung
//    -made fix to constructors for ANSI C++ compliance with temporary OSCARError objects
//    -added DUMMY_ERROR class
//
//    Revision 1.6  2004/05/26 20:02:01  pmarch
//    Added /defgroup and /ingroup tags.
//
//    Revision 1.5  2003/09/09 17:13:12  eswint
//    - Changed #include "Math/..." to #include "..."
//
//    Revision 1.4  2003/09/05 19:36:03  eswint
//    - Edited comments
//
//    Revision 1.3  2003/09/04 22:48:50  eswint
//    - Changed default arguments: OSCARError(0,"No Error"...) to OSCARError(noError) and String(" ") to String("")
//
//    Revision 1.2  2003/08/26 22:26:31  eswint
//    - Made construction from OrientationType explicit
//
//    Revision 1.1  2003/08/18 15:23:39  eswint
//    Initial Commit
//
//
#ifndef HandPose_hpp
#define HandPose_hpp

#include "Math/CoordinateVector.h"
#include "Math/Orientation.h"
#include "Math/SpatialXform.h"
#include "Math/Vector3.h"
#include "Math/Xform.h"

namespace OSCAR {
  class HandPose : public CoordinateVector
  {
  public:

    HandPose();

    explicit HandPose(Orientation::OrientationType oType);

    HandPose(double x, double y, double z, double o1, double o2, double o3, Orientation::OrientationType oType = Orientation::FixedXYZ);

    HandPose(double x, double y, double z, double o1, double o2, double o3,
      const CoordinateStatusArray& statArray,
               Orientation::OrientationType oType = Orientation::FixedXYZ,
               OSCARError& err = DUMMY_ERROR(noError));

    HandPose(double *array, Orientation::OrientationType oType = Orientation::FixedXYZ);

    HandPose(double *array, const CoordinateStatusArray& statArray, Orientation::OrientationType oType = Orientation::FixedXYZ,
               OSCARError& err = DUMMY_ERROR(noError));

    HandPose(const CoordinateStatusArray& statArray, OSCARError& err = DUMMY_ERROR(noError));

    HandPose(const HandPose& rhs);

    virtual ~HandPose();

    double& X();

    double& Y();

    double& Z();

    double& O1();

    double& O2();

    double& O3();

    double GetX() const;

    double GetY() const;

    double GetZ()  const;

    double GetO1() const;

    double GetO2() const;

    double GetO3() const;

    bool Get(Vector3& position) const;

    bool Get(Orientation& orientation) const;

    bool Get(Rot3by3& rotation) const;

    bool Get(Quaternion& quat) const;

    bool Get(Xform& xform) const;

    bool Get(SpatialXform& spatial) const;

    bool Get(Vector3& axis, double& angle, AngleUnits angUnits = Radians) const;


    bool Set(const Vector3& position);  // sets the position coordinates

    bool Set(const Orientation& orientation);

    bool Set(const Rot3by3& rotation);

    bool Set(const Quaternion& quat);

    bool Set(const Xform& xform);

    bool Set(const SpatialXform& spatial);

    bool Set(const Vector3& axis, double angle, AngleUnits angUnits = Radians);


    Orientation:: OrientationType GetOrientationType() const;

    bool SetOrientationType(Orientation::OrientationType oType);

    bool ConvertType(Orientation::OrientationType oType);

    bool Subtract(const HandPose& rhs, HandPose& result) const;

    HandPose  operator-(const HandPose& rhs) const;

    HandPose& operator=(const HandPose& rhs);

    HandPose& operator=(const Vector& rhs);

    HandPose& operator()(double x,double y,double z,double o1,double o2,double o3);

  protected:
    Orientation::OrientationType   oType;
  };


  #include "HandPose.ipp"
}

#endif  // HandPose_hpp

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