cinosmovepathpartclothoid.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHPARTCLOTHOID_H
#define INC_CINOSMOVEPATHPARTCLOTHOID_H
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// struct definition
//------------------------------------------------------------------------------
//
struct SINOSMovePathPartClothoidConstants
{
    enum {
        eCnsSeries      = 5,
    };
    double m_dX[eCnsSeries];
    double m_dY[eCnsSeries];
};
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathPartClothoid : public CINOSMovePathPart
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        virtual uint8 GetMainAxisIndex() override
        {
            // axis 0 is our main one
            return m_uIndex[0];
        }
 
        virtual uint32 GetInvolved() override
        {
            return (1<<m_uIndex[0])|(1<<m_uIndex[1]);
        }
 
        virtual double Prepare(uint32 auIncremental, double* apPosition) override;
 
        virtual void GetPosition(double adP, double* apPosition) override;
        virtual void GetDerivative(uint32 auLevel, double adP, double* apDerivative) override;
        virtual void GetD2max(double* apD2max) override;
        virtual void GetD3max(double* apD3max) override;
 
        static double GetTangentLength(double adR, double adL, double adGamma);
 
    //--- internals --------------------------------------------------------
 
    friend class CINOSMovePath;
 
    // constructor / destructor
    public :
        enum {
            eOptNone        = 0x00000000,
            eOptClockWise   = 0x00000001,
            eOptInverted    = 0x00000002,
        };
 
        CINOSMovePathPartClothoid(uint8 auIndex1, uint8 auIndex2,
            double adR, double adL, double adRotationAngle, uint32 auOptions);
        virtual ~CINOSMovePathPartClothoid();
 
        static void GetXY(double adL, uint32 auOptions, double& adX, double& adY,
            SINOSMovePathPartClothoidConstants& asConst);
        static void InitConstants(double adA, SINOSMovePathPartClothoidConstants& asConst);
 
    // protected members
    protected :
        double GetD2x(double adP);
        double GetD2y(double adP);
        double GetD3x(double adP);
        double GetD3y(double adP);
 
        uint8 m_uIndex[2];
        uint32 m_uOptions;
        double m_dR;
        double m_dL;
        double m_dA;
        double m_dA_2;
        double m_dA_4;
        double m_dRotationAngle;
        double m_dCosA;
        double m_dSinA;
        double m_dXe;
        double m_dYe;
        // calculation constants
        SINOSMovePathPartClothoidConstants m_sConst;
 
    // dynamic object handling
    DECLARE_DYNAMIC(CINOSMovePathPartClothoid);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHPARTCLOTHOID_H