Model.h

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/*
Copyright (C) 2002-2004 Jean-Francois Mercure Burroughs
                        Etienne Lachance

This program 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.

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


Report problems and direct all questions to:

email: richard.gourdeau@polymtl.ca
*/

#ifndef _MODEL_H
#define _MODEL_H


static const char header_model_rcsid[] = "$Id: Model.h,v 1.8 2006/05/16 16:46:18 gourdeau Exp $";

#include "base.h"
#include "boxLogger.h"
#include "enviro.h"
#include "robotgl.h"
#include "dynamics_sim.h"
#include "stl.h"
#include "Subject_Observer.h"

#include "wx/textfile.h"


enum inv_kin_status
{
   INV_KIN_CONV=0,
   INV_KIN_NOT_CONV,
   INV_KIN,
};

class Target: public Subject
{
public:
  Target();
  ~Target();
   void SetTargetPos(const double X_, const double Y_, const double Z_, 
                     const double Yaw_, const double Pitch_, const double Roll_);
   void MoveTarget(const int X_, const int Y_, const int Z_);
   void DrawTarget(const double radius, const double X_, const double Y_, const double Z_, 
                     const double Yaw_, const double Pitch_, const double Roll_);

   double X,      
          Y, 
          Z, 
          Yaw, 
          Pitch, 
          Roll;
   inv_kin_status status_kin; 
private:
   Axis *axis;                
   GLUquadricObj *qobj1;      
};


class Dynamics;

class CModel: public Subject
{
public:
   CModel();
   virtual ~CModel();
   CModel & operator=(const CModel & x);
   static CModel* Instance();

   void set_q(const ColumnVector & );
   ReturnMatrix get_q();
   ReturnMatrix kine();

   bool IsInitialise();
   bool SaveModel(wxString filename, wxString pathname);

   void SetRobot(const Matrix & initrob);
   void SetRobot(const string &filename, const string & robotname);
   void SetSTL(STL_obj* x);

   ReturnMatrix inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge);
   int get_dof() const;
   void Set_q(const double value, const int idx);
   double get_q(const int idx) const;

   void Render();

   Target *m_target;         
   Target *baseFrameAxis;    

   Robotgl *m_robotgl_dh;    
   mRobotgl *m_robotgl_mdh;  

private:

   Dynamics *m_dynamics;
   static CModel* m_instance; 
};

#endif

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