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/************************************************************************ |
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* |
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* Copyright (C) 2014-2024 IRCAD France |
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* Copyright (C) 2014-2019 IHU Strasbourg |
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* |
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* This file is part of Sight. |
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* |
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* Sight is free software: you can redistribute it and/or modify it under |
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* the terms of the GNU Lesser General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* Sight is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with Sight. If not, see <https://www.gnu.org/licenses/>. |
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* |
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***********************************************************************/ |
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#pragma once |
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#include <core/base.hpp> |
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#include <data/matrix4.hpp> |
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#include <service/controller.hpp> |
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namespace sight::module::geometry |
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{ |
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/** |
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* @brief This service concatenates N matrices together. |
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* |
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* The computation of the concatenation is triggered when updating the service. |
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* Auto-connections to the matrices can also be used to force the service to recompute the output matrix. |
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* |
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* @section XML XML Configuration |
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* |
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* @code{.xml} |
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<service uid="..." type="sight::module::geometry::concatenate_matrices"> |
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<in group="matrix"> |
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<key uid="..." /> |
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<key uid="..." inverse="true"/> |
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<key uid="..." auto_connect="true"/> |
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</in> |
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<inout key="output" uid="..." /> |
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</service> |
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@endcode |
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* @subsection Input Input: |
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* - \b matrix [sight::data::matrix4]: List of matrix keys to concatenate. For each input matrix, it is |
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* possible to invert it before multiplying with it by specifying \b inverse="true". |
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* The auto_connect is connected to the update slot, thus is will trigger a new concatenation. |
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* @subsection In-Out In-Out: |
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* - \b output [sight::data::matrix4]: Output matrix. |
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*/ |
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class concatenate_matrices : public service::controller |
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{ |
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public: |
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SIGHT_DECLARE_SERVICE(concatenate_matrices, sight::service::controller); |
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concatenate_matrices() noexcept = default; |
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~concatenate_matrices() noexcept override = default; |
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protected: |
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/// This method is used to configure the service. |
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void configuring() override; |
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/// Does nothing. |
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void starting() override; |
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/// Does nothing. |
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void stopping() override; |
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/// Concatenates the matrices |
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void updating() override; |
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/** |
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* @brief Returns proposals to connect service slots to associated object signals, |
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* this method is used for obj/srv auto connection |
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* |
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* Connect Matrix4::MODIFIED_SIG to this::service::slots::UPDATE |
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*/ |
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connections_t auto_connections() const override; |
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private: |
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using invert_vector_t = std::vector<bool>; |
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/// Vector to specify if matrix must be inverted. |
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invert_vector_t m_invert_vector; |
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static constexpr std::string_view MATRIX_GROUP_INPUT = "matrix"; |
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data::ptr_vector<data::matrix4, sight::data::access::in> m_matrices {this, MATRIX_GROUP_INPUT, true}; |
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static constexpr std::string_view OUTPUT = "output"; |
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data::ptr<data::matrix4, sight::data::access::inout> m_output {this, OUTPUT}; |
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}; |
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} //namespace sight::module::geometry |
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