ENH: Add dummy client that can be controlled externally

Source/Devices/imstkDummyClient.cpp

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   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.txt
+
+   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.
+
+=========================================================================*/
+
+#include <map>
+
+#include "imstkDummyClient.h"
+
+#include "g3log/g3log.hpp"
+
+namespace imstk
+{
+void 
+DummyClient::setButton(const unsigned int buttonId, const bool buttonStatus)
+{
+    auto x = m_buttons.find(buttonId);
+    if (x != m_buttons.end())
+    {
+        x->second = buttonStatus;
+    }
+}
+} // imstk

Source/Devices/imstkDummyClient.h

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   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.txt
+
+   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 imstkDummyClient_h
+#define imstkDummyClient_h
+
+#include "imstkDeviceClient.h"
+
+namespace imstk
+{
+
+///
+/// \class Dummy client
+/// \brief Allows setting the pose of the device from external caller
+///
+class DummyClient : public DeviceClient
+{
+public:
+
+    ///
+    /// \brief Constructor/Destructor
+    ///
+    DummyClient(std::string name) : DeviceClient(name, "localhost"){}
+    virtual ~DummyClient(){}
+
+protected:
+
+    ///
+    /// \brief Initialize the phantom omni device
+    ///
+    void init(const unsigned int numButtons = 0)
+    {
+        for (unsigned int i = 0; i < numButtons; ++i)
+        {
+            m_buttons[i] = false;
+        }
+    };
+
+    void run() = delete;
+    void cleanUp() = delete;
+
+public:
+    ///
+    /// \brief Set position
+    ///    
+    void setPosition(const Vec3d& pos) { m_position = pos; };
+
+    ///
+    /// \brief Set velocity
+    ///
+    void setVelocity(const Vec3d& vel) { m_velocity = vel; };
+
+    ///
+    /// \brief Set orientation
+    ///
+    void setOrientation(const Quatd& orient) { m_orientation = orient; };
+
+    ///
+    /// \brief Set orientation from 4x4 transform
+    ///
+    void setOrientation(double* transform) 
+    { 
+        m_orientation = (Eigen::Affine3d(Eigen::Matrix4d(transform))).rotation();
+    };
+
+    ///
+    /// \brief Set the button status if it exists
+    ///
+    void setButton(const unsigned int buttonId, const bool buttonStatus);
+
+};
+}
+
+#endif // ifndef imstkDummyClient_h
+