cinosmovepathpartlinear.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHPARTLINEAR_H
#define INC_CINOSMOVEPATHPARTLINEAR_H
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathPartLinear : public CINOSMovePathPart
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        virtual uint8 GetMainAxisIndex() override
        {
            // return our index
            return m_uIndex;
        }
 
        virtual uint32 GetInvolved() override
        {
            return (uint32)(1ul<<m_uIndex);
        }
 
        virtual double Prepare(uint32 auIncremental, double* apPosition) override;
 
 
        virtual void GetPosition(double adP, double* apPosition) override
        {
            // return result
            apPosition[m_uIndex] += (adP*m_dLength);
        }
 
        virtual void GetDerivative(uint32 auLevel, double adP, double* apDerivative) override
        {
            // check level
            if (auLevel == 1) {
                // return result
                apDerivative[m_uIndex] = m_dLength*m_pSegment->GetLength_1();
            }
            else {
                // not available
                apDerivative[m_uIndex] = 0.0;
            }
        }
 
        virtual void GetD2max(double* apD2max) override
        {
            // 2nd derivative is zero
            apD2max[m_uIndex] = 0.0;
        }
 
        virtual void GetD3max(double* apD3max) override
        {
            // 3rd derivative is zero
            apD3max[m_uIndex] = 0.0;
        }
 
        virtual bool IsStartBlendingAllowed() override
        {
            // yes
            return true;
        }
 
        virtual bool IsEndBlendingAllowed() override
        {
            // yes
            return true;
        }
 
    //--- internals --------------------------------------------------------
 
    friend class CINOSMovePath;
 
    // constructor / destructor
    public :
        CINOSMovePathPartLinear (uint8 auIndex, double adValue)
            : CINOSMovePathPart(eTypeLinear), m_uIndex(auIndex), m_dValue(adValue),
              m_dLength(0.0)
        {
        }
        virtual ~CINOSMovePathPartLinear ()
        {
        }
 
    // protected members
    protected :
        uint8 m_uIndex;
        double m_dValue;
        double m_dLength;
 
    // dynamic object handling
    DECLARE_DYNAMIC(CINOSMovePathPartLinear);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHPART_H