cinosmovepathinterpolatorshape.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHINTERPOLATORSHAPE_H
#define INC_CINOSMOVEPATHINTERPOLATORSHAPE_H
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
#include <cinosmovepathinterpolator.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathInterpolatorShape : public CINOSMovePathInterpolator
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
        
        virtual void GetPosition(double adP, CINOSMovePathSegment*& opSegment,
                TINOSMovePathVec& ovPos) override;
 
        virtual double GetCurveLength() override;
 
        virtual bool IsCurveContinuous(uint32 auLevel) override
        {
            // levels <= 2
            if (auLevel <= 2) {
                // yes
                return true;
            }
            else {
                // no
                return false;
            }
        }
 
        virtual uint32 Prepare() override;
 
        virtual uint32 ConnectSegments(
                CINOSMovePathInterpolator* apOther) override;
 
 
    //--- internals --------------------------------------------------------
 
    // constructor / destructor
    public :
        CINOSMovePathInterpolatorShape (
                CINOSMovePathCurve* apCurve,
                CINOSMovePath* apPath = nullptr);
 
        virtual ~CINOSMovePathInterpolatorShape () {
            ShapeCleanup();
        }
 
    protected :
    // protected member functions
        void CalcTandV(
            TINOSMovePathVec& iP0,
            TINOSMovePathVec& iP1,
            TINOSMovePathVec& iVmax,
            double adVcmd,
            uint32 auMask,
            double& odT,
            double& odFactor,
            TINOSMovePathVec& oV);
        double GetCorrectedP(double adP);
 
 
        virtual void Cleanup() override;
 
    private:
    // private member functions
 
        void ShapeCleanup();
 
    // protected members
    protected :
        double m_dPlast = 0.0;
        double m_dLengthCorrection = 0.0;
        double m_dConnectionLength = 0.0;
 
        class CINOSRampJob* m_pJob[DF_INOS_MOVEPATH_MAX_AXES];
 
        struct SCorr* m_pFstCorr = nullptr;
        struct SCorr* m_pLstCorr = nullptr;
 
    // dynamic
    DECLARE_DYNAMIC(CINOSMovePathInterpolatorShape);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHINTERPOLATORSHAPE_H