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ProstateRobotStatus.hpp
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ProstateRobotStatus.hpp
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#ifndef __ProstateRobotStatus_HPP_
#define __ProstateRobotStatus_HPP_
#include "igtlSocket.h"
#include "igtlMath.h"
#include "igtlMessageBase.h"
#include "ProstateRobot.hpp"
#include "ProstateRobotCommunicationBase.hpp"
class ProstateRobotStatus
{
public:
ProstateRobotStatus(shared_ptr<ProstateRobot>);
~ProstateRobotStatus();
bool GetTargetFlag() { return this->robot->GetTargetFlag(); }
bool GetCalibrationFlag() { return this->robot->GetCalibrationFlag(); };
int GetCalibrationMatrix(igtl::Matrix4x4 &);
void SetCalibrationMatrix(igtl::Matrix4x4 &);
int GetTargetMatrix(igtl::Matrix4x4 &);
void SetTargetMatrix(igtl::Matrix4x4 &);
void GetCurrentPosition(igtl::Matrix4x4 &);
void GetCurrentKinematicTipPosition(igtl::Matrix4x4 &);
void GetReachableTargetPoseMatrix(igtl::Matrix4x4 &);
void RetractNeedleToHome();
void SetCurvMethod(const string &);
void SetNeedleLength(const double &);
void PushBackActualNeedlePos(const igtl::Matrix4x4 &);
void SetAlpha(const double &);
void UpdateTargetMatrix(igtl::Matrix4x4 &);
void SetTargetAngle(const double &);
void SetDeadband(const int);
void SetSteeringMethod(const std::string &);
// Atributes
shared_ptr<ProstateRobot> robot{nullptr};
ProstateRobotStates kStateNames;
};
#endif //__ProstateRobotStatus_HPP_