/usr/include/SurgSim/Input/CombiningOutputComponent.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// Copyright 2013-2016, 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_INPUT_COMBININGOUTPUTCOMPONENT_H
#define SURGSIM_INPUT_COMBININGOUTPUTCOMPONENT_H
#include <boost/thread/mutex.hpp>
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include "SurgSim/DataStructures/DataGroup.h"
#include "SurgSim/Input/OutputComponent.h"
namespace SurgSim
{
namespace Input
{
SURGSIM_STATIC_REGISTRATION(CombiningOutputComponent);
/// CombiningOutputComponents is-a OutputComponent that takes one or more OutputComponents and combines their
/// datagroups into a single output datagroup.
/// The combining functor can be set, with the default functor accumulating all vectors named "force", and all vectors
/// named "torque". The resulting DataGroup has only those two specific entries, and can be used to drive a haptic
/// device from multiple OutputComponents.
class CombiningOutputComponent : public SurgSim::Input::OutputComponent
{
public:
typedef std::function<bool(const std::vector<std::shared_ptr<SurgSim::Input::OutputComponent>>&,
SurgSim::DataStructures::DataGroup*)> FunctorType;
/// Constructor
/// \param name Name of this output component
explicit CombiningOutputComponent(const std::string& name);
/// Destructor
virtual ~CombiningOutputComponent();
SURGSIM_CLASSNAME(SurgSim::Input::CombiningOutputComponent);
void setData(const SurgSim::DataStructures::DataGroup& dataGroup) override;
/// \return The OutputComponents that will be combined.
std::vector<std::shared_ptr<SurgSim::Framework::Component>> getOutputs() const;
/// \param outputs The OutputComponents that will be combined. They should have their device names set to the
/// empty string.
void setOutputs(const std::vector<std::shared_ptr<SurgSim::Framework::Component>>& outputs);
/// Set the function to do the combining.
/// The parameter is a function that receives all the OutputComponents and returns a DataGroup and a bool
/// indicating success.
void setCombiner(FunctorType combiner);
bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override;
private:
/// The OutputComponents that will be combined.
std::vector<std::weak_ptr<SurgSim::Input::OutputComponent>> m_outputs;
/// The function that takes the OutputComponents and returns a DataGroup and a bool that specifies whether
/// it was successful.
FunctorType m_combiner;
/// The mutex that protects the outputs.
boost::mutex m_mutex;
};
}; // namespace Input
}; // namespace SurgSim
#endif
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