ToolInformation.h

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#pragma once
#include <ktm/global.h>
#include <math/Types.h>
#include <misc/gen/IniProfile.h>
 
namespace sf
{
 
class _KTM_CLASS ToolInformation
{
  public:
    ToolInformation();
 
    inline void clear();
 
    // Assign all member at once.
    void assign(double x, double y, double z, double xa, double ya, double za, double len);
 
    void read(IniProfile& ini, const std::string& section = {});
 
    void write(IniProfile& ini, const std::string& section = {});
 
    //
    // Displacement related items.
    //
 
    void setDisplacement(double angle_x, double angle_y, double beam_len);
 
    void setDisplacement(Vector3D v);
 
    double setDisplacementAngleX() const;
 
    double setDisplacementAngleY() const;
 
    double setDisplacementLength() const;
 
    const Vector3D& getDisplacement() const;
 
    //
    // Beam related items.
    //
 
    void setBeam(double angle_x, double angle_y, double angle_z, double beam_len);
    double getBeamAngleX() const;
    double getBeamAngleY() const;
 
    double getBeamAngleZ() const;
 
    double getBeamLength() const;
 
    const Matrix44& getBeamMatrix() const;
 
  private:
    // Displacement in 3D space of when attached to a manipulator.
    Vector3D _displacement;
    // Precalculated matrix for faster calculation.
    Matrix44 _beam;
    // Displacement angles.
    double _displacementAngleX;
    double _displacementAngleY;
    double _displacementLength;
    // Holds the deflection angle in around the X-axis of the beam.
    double _beamAngleX;
    // Holds the deflection angle in around the Y-axis of the beam.
    double _beamAngleY;
    // Holds the deflection angle in around the Z-axis of the beam.
    double _beamAngleZ;
    // Holds the length of beam inside the tool.
    double _beamLength;
};
 
Vector3D _KTM_FUNC getToolBeamVector(const ToolInformation& tool, double beam_len, double a, double b);
 
Vector3D _KTM_FUNC getBeamVector(const ToolInformation& tool, double beam_len, double a, double b);
 
}// namespace sf
 
// Include all inlined functions and template implementations.
#include <ktm/ToolInformation.hpp>