D:/Documents/mediTEC Projects/CRA/master/include/CRA/Registration.h

/*
 *  Copyright (C) 2010 - 2013 Leonid Kostrykin
 *
 *  Chair of Medical Engineering (mediTEC)
 *  RWTH Aachen University
 *  Pauwelsstr. 20
 *  52074 Aachen
 *  Germany
 *
 */

#ifndef REGISTRATION_H_2521354512
#define REGISTRATION_H_2521354512

#include "cra_global.h"
#include "Transformation.h"
#include <set>
#include <memory>
#include <QObject>

namespace CRA
{

class Tool;
class Link;



// ----------------------------------------------------------------------------------
// Registration
// ----------------------------------------------------------------------------------

class CRA_EXPORT Registration : public QObject
{

    Q_OBJECT

public:

    Registration( Tool& referenceBase );

    ~Registration();


    void setReferenceBase( Tool& );

    Tool& getReferenceBase() const;


    void setTransformation( const Transformation& );

    const Transformation& getTransformation() const;


    void setCustomTranslation( const Vector& );

    void removeCustomTranslation();

    const Vector& getCustomTranslation() const;

    bool hasCustomTranslation() const;


    void add( const Link& );

    void remove( const Link& );

    const std::set< Link >& getLinks() const
    {
        return links;
    }


    void updateVirtualElements();


signals:

    void transformationChanged();
    
    void transformationChanged( const Transformation& );


private slots:

    void applyCustomTranslation();

    
private:

    Tool* referenceBase;

    Transformation transformation;

    Vector originalTranslation;

    std::set< Link > links;

    std::unique_ptr< Vector > customTranslation;

}; // Registration



}  // namespace CRA

#endif // REGISTRATION_H_2521354512