Odometer.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/Environment.h>
#include <agxSensor/ConstraintAttachedSensor.h>
#include <agxSensor/OdometerModel.h>
#include <agxSensor/OdometerOutputHandler.h>
 
#include <agx/CylindricalJoint.h>
#include <agx/Hinge.h>
#include <agx/SplineJoint.h>
#include <agx/SlackCylindricalJoint.h>
#include <agx/SlackHingeJoint.h>
 
#include <agxVehicle/WheelJoint.h>
 
#include <agxSDK/Simulation.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( Odometer );
  AGX_DECLARE_VECTOR_TYPES( Odometer );
 
  class AGXSENSOR_EXPORT Odometer : public ConstraintAttachedSensor
  {
    public:
      static Odometer* find( const agxSDK::Simulation* simulation, const agx::Name& name );
 
      static Odometer* find( const Environment* environment, const agx::Name& name );
 
      static OdometerPtrVector findAll( const agxSDK::Simulation* simulation,
                                        const agx::Name& name );
 
      static OdometerPtrVector findAll( const Environment* environment, const agx::Name& name );
 
      static OdometerPtrVector findAll( const agxSDK::Simulation* simulation );
 
      static OdometerPtrVector findAll( const Environment* environment );
 
    public:
      Odometer( agx::CylindricalJoint* cylindrical, OdometerModel* model );
 
      Odometer( agx::Hinge* hinge, OdometerModel* model );
 
      Odometer( agx::SplineJoint* spline, OdometerModel* model );
 
      Odometer( agx::SlackCylindricalJoint* cylindrical, OdometerModel* model );
 
      Odometer( agx::SlackHingeJoint* hinge, OdometerModel* model );
 
      Odometer( agxVehicle::WheelJoint* wheel, OdometerModel* model );
 
      void setConstraint( agx::CylindricalJoint* cylindrical );
 
      void setConstraint( agx::Hinge* hinge );
 
      void setConstraint( agx::SplineJoint* spline );
 
      void setConstraint( agx::SlackCylindricalJoint* cylindrical );
 
      void setConstraint( agx::SlackHingeJoint* hinge );
 
      void setConstraint( agxVehicle::WheelJoint* wheel );
 
      virtual agx::Constraint* getConstraint() const override;
 
      OdometerModel* getModel() const;
 
      OdometerOutputHandler* getOutputHandler() const;
 
      virtual ISensorOutputHandler* getOutputHandlerBase() const override;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronizeGraphics(const agxRender::RenderManager& renderManager) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::Odometer );
 
    protected:
      friend class OdometerOutputHandler;
 
      Odometer( agx::Constraint* constraint, OdometerModel* model, agx::UInt sampleDof );
      Odometer();
 
      virtual void setConstraint( agx::Constraint* constraint ) override;
      agx::UInt getConstraintSampleDof() const;
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      agx::ConstraintRef m_constraint;
      agx::UInt m_constraintSampleDof;
      OdometerModelRef m_model;
  };
}