cinosmovepathinterpolatorclothoid.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHINTERPOLATORCLOTHOID_H
#define INC_CINOSMOVEPATHINTERPOLATORCLOTHOID_H
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
#include <cinosmovepathinterpolator.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathInterpolatorClothoid : public CINOSMovePathInterpolator
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
        
        virtual void GetPosition(double adP, CINOSMovePathSegment*& opSegment,
                TINOSMovePathVec& ovPos) override;
 
        virtual uint32 Prepare() override;
 
        virtual bool IsCurveContinuous(uint32 auLevel) override;
    //--- internals --------------------------------------------------------
 
    // constructor / destructor
    public :
        CINOSMovePathInterpolatorClothoid (
                CINOSMovePathCurve* apCurve,
                CINOSMovePath* apPath = NULL);
        virtual ~CINOSMovePathInterpolatorClothoid () {};
 
 
        double CalcAngleAndDirection(TINOSMovePathVec& vDir1,
            TINOSMovePathVec& vDir2, bool& abCw);
        double CalcRotationAngle(TINOSMovePathVec& vVector1,
            TINOSMovePathVec& vVector2);
        uint32 CalcIntersection(CINOSMovePathSegment* apSegment1,
            CINOSMovePathSegment* apSegment2,
            TINOSMovePathVec& vIntersection);
 
    // protected members
    protected :
        uint8 ind0 = 0;
        uint8 ind1 = 1;
 
    // dynamic
    DECLARE_DYNAMIC(CINOSMovePathInterpolatorClothoid);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHINTERPOLATORCLOTHOID_H