cinosmovepathinterpolator.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHINTERPOLATOR_H
#define INC_CINOSMOVEPATHINTERPOLATOR_H
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
#include <map>
#include <functional>
//
// system
#include <inos.h>
#include <cinosbaseramp.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// type definitions
//------------------------------------------------------------------------------
//
//
//------------------------------------------------------------------------------
// macros
//------------------------------------------------------------------------------
//
#define SECURE_INC(index)                                                   \
    if (index<(DF_INOS_MOVEPATH_MAX_POINTS-1)){                             \
        index++;                                                            \
    }                                                                       \
    else {                                                                  \
        return INOS_MOVEPATH_ERROR_ITP_MAX_SEGMENTS;                        \
    }
 
 
#define INOS_REGISTER_MOVEPATH_INTERPOLATOR(aName, aClass )                 \
        static int aClass##RegistrationRet = CINOSMovePathInterpolator::AddInterpolator(aName, ([](CINOSMovePathCurve* c, CINOSMovePath* p){return new aClass(c, p);}));
 
//------------------------------------------------------------------------------
// forwards
//------------------------------------------------------------------------------
//
class CINOSMovePathCurve;
class CINOSMovePath;
class CINOSMovePathInterpolatorSegment;
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSMovePathInterpolator
{
 
    //--- user interface -------------------------------------------------------
 
    // public member functions
    public :
 
        // position handling
 
        virtual void GetPosition(double adP, CINOSMovePathSegment*&  opSegment,
            TINOSMovePathVec& ovPos);
        virtual void GetDirection(double adP,
            TINOSMovePathVec& ovDir);
        virtual void GetDirectionLast(TINOSMovePathVec& ovDir);
        virtual void GetDerivative(uint32 auLevel, double adP,
            TINOSMovePathVec& ovDer);
        virtual void GetD2max(double adBgn, double adEnd, TINOSMovePathVec& aD2max);
        virtual void GetD3max(double adBgn, double adEnd, TINOSMovePathVec& aD3max);
 
        virtual double GetCurveLength();
 
        virtual bool IsCurveContinuous(uint32 auLevel)
        {
            // assume no
            return false;
        }
 
        virtual uint32 Prepare();
 
        CINOSMovePathInterpolatorSegment* GetFirstSegment() {
            return m_pFirstSegment;
        }
 
        CINOSMovePathInterpolatorSegment* GetLastSegment() {
            return m_pLastSegment;
        }
 
        void AddSegment(CINOSMovePathInterpolatorSegment* apSegment);
 
        virtual uint32 ConnectSegments(CINOSMovePathInterpolator* apOther);
        // trajectory interface
 
 
 
        static CINOSMovePathInterpolator* CreateInterpolator(
                const char* apInterpolatorType,
                CINOSMovePathCurve* apCurve,
                CINOSMovePath* apMovePath);
 
        typedef std::function<CINOSMovePathInterpolator* (CINOSMovePathCurve*, CINOSMovePath*)> TINOSInterpolatorConstructor;
 
        static int AddInterpolator(const char* apInterpolatorType, const TINOSInterpolatorConstructor& constructor_call);
 
        static bool CheckInterpolatorType(const char* apInterpolatorType);
 
    //--- internals ------------------------------------------------------------
 
    friend class CINOSMovePath;
        virtual ~CINOSMovePathInterpolator () {
            BaseCleanup();
        };
 
    // constructor / destructor
    protected :
        CINOSMovePathInterpolator (
                CINOSMovePathCurve* apCurve,
                class CINOSMovePath* apPath = NULL);
 
        virtual void Cleanup();
 
        class CINOSMovePath* GetPath()
            { return m_pPath; };
        void SetPath(class CINOSMovePath* apPath)
            { m_pPath = apPath; };
        class CINOSMovePathCurve* GetCurve();
 
        bool IsContinuous(CINOSMovePathSegment* apSegment1,
            CINOSMovePathSegment* apSegment2, uint32 auLevel);
 
        bool IsBlendingRequired(CINOSMovePathSegment* apSegment1,
            CINOSMovePathSegment* apSegment2);
        bool IsBlendingAllowed(CINOSMovePathSegment* apSegment1,
            CINOSMovePathSegment* apSegment2);
 
        virtual CINCOObject* RequestRegister();
 
 
        void ReleaseRegister();
 
        CINCOObject* GetRegister()
        {
            return m_pRegister;
        }
 
        typedef std::map<std::string, TINOSInterpolatorConstructor> TINOSInterpolatorMap;
        static TINOSInterpolatorMap& GetInterpolatorsMap();
 
 
    private:
        void BaseCleanup();
 
 
    // protected members
    protected :
        inosName32 m_cType;
        class CINOSMovePath* m_pPath;
        char m_cSpeedSet[64];
        SINOSRampParam m_sSpeedSet;
        double m_dTolerance;
        double m_dCycleTime;
        double m_dCycleTime_1;
 
        uint32 m_uRegisterCnt = 0;
        CINCOObject* m_pRegister = nullptr;
 
        CINOSMovePathCurve* m_pCurve;
 
        class CINOSMovePathInterpolatorSegment* m_pFirstSegment = nullptr;
        class CINOSMovePathInterpolatorSegment* m_pLastSegment = nullptr;
 
    // dynamic
    DECLARE_DYNAMIC(CINOSMovePathInterpolator);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHINTERPOLATOR_H