/usr/include/SurgSim/Blocks/DriveElementFromInputBehavior.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H
#define SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Input
{
class InputComponent;
}
namespace Blocks
{
SURGSIM_STATIC_REGISTRATION(DriveElementFromInputBehavior);
/// Behavior to copy a pose from an input component to a SceneElement
/// By adding this behavior to a SceneElement, that SceneElement will be moved
/// in correspondance to the input.
class DriveElementFromInputBehavior : public SurgSim::Framework::Behavior
{
public:
/// Constructor
/// \param name Name of the behavior
explicit DriveElementFromInputBehavior(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Blocks::DriveElementFromInputBehavior);
/// Set the InputComponent that provides the pose
/// \param source A SurgSim::Input::InputComponent
void setSource(std::shared_ptr<SurgSim::Framework::Component> source);
/// Get the InputComponent which is being used by this behavior
/// \return A SurgSim::Component::InputComponent
std::shared_ptr<SurgSim::Framework::Component> getSource();
/// Set name of the pose.
/// \param poseName The name of the pose.
void setPoseName(const std::string& poseName);
/// Get name of the pose.
/// \return The name of the pose.
std::string getPoseName();
/// Update the behavior
/// \param dt The length of time (seconds) between update calls.
virtual void update(double dt);
protected:
/// Initialize the behavior
virtual bool doInitialize();
/// Wakeup the behavior, which copies the initial pose
virtual bool doWakeUp();
private:
/// InputComponent to get the pose
std::shared_ptr<SurgSim::Input::InputComponent> m_source;
std::string m_poseName;
};
}; // namespace Blocks
}; // namespace SurgSim
#endif // SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H
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