cinosmovepathpartlinearbay.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHPARTLINEARBAY_H
#define INC_CINOSMOVEPATHPARTLINEARBAY_H
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
//
// C++
#include <math.h>
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathPartLinearBay : public CINOSMovePathPart
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        virtual uint8 GetMainAxisIndex()
        {
            // axis R is our main one
            return m_uIndexR;
        }
 
        virtual uint32 GetInvolved()
        {
            return (1<<m_uIndexR)|(1<<m_uIndexX);
        }
 
        virtual double Prepare(uint32 auIncremental, double* apPosition);
 
        virtual void GetPosition(double adP, double* apPosition);
        virtual void GetDerivative(uint32 auLevel, double adP, double* apDerivative);
        virtual void GetD2max(double* apD2max);
        virtual void GetD3max(double* apD3max);
 
    //--- internals --------------------------------------------------------
 
    friend class CINOSMovePath;
 
    // constructor / destructor
    protected :
        CINOSMovePathPartLinearBay(uint8 auIndexR, uint8 auIndexX,
            double adValueR, double adValueX, double adGripperLength);
        virtual ~CINOSMovePathPartLinearBay();
 
        double rad(double a)
        {
            return a*M_PI/180.0;
        }
 
        double deg(double a)
        {
            return a*180.0/M_PI;
        }
 
    // protected members
    protected :
        uint8 m_uIndexR;
        uint8 m_uIndexX;
 
        double m_dLength;
        double m_dPosR0;
        double m_dOfsX0;
 
        double m_dValueR;
        double m_dValueX;
        double m_dGripperLength;
        double m_dGripperLength_1;
 
    // dynamic object handling
    DECLARE_DYNAMIC(CINOSMovePathPartLinearBay);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHPARTBAYLINEAR_H