cinosmovepathsegment.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHSEGMENT_H
#define INC_CINOSMOVEPATHSEGMENT_H
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSMovePathSegment
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        double GetLength()
        {
            // return length
            return m_dLength;
        }
        double GetLength_1()
        {
            // return length
            return m_dLength_1;
 
        }
        uint32 GetId()
        {
            // return id
            return m_uId;
        }
 
        uint32 GetFlags()
        {
            // return flags
            return m_uFlags;
        }
 
        void SetFlags(uint32 auFlags)
        {
            // set flags
            m_uFlags |= auFlags;
        }
 
        bool IsPureLinear()
        {
            // check flag
            return (m_uFlags & DF_INOS_MOVEPATH_FLAG_PURE_LINEAR);
        }
 
        bool IsPureRapid()
        {
            // check flag
            return (m_uFlags & DF_INOS_MOVEPATH_FLAG_PURE_RAPID);
        }
 
    //--- internals --------------------------------------------------------
 
    protected :
        uint32 m_uFlags;
        double m_dLength;
        double m_dLength_1;
        uint32 m_uId;
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        virtual void GetPosition(double adP, TINOSMovePathVec& ovPos) = 0;
        virtual void GetPositionFirst(TINOSMovePathVec& ovPos)
        {
            // set vector
            ovPos = m_vStart;
        }
        virtual void GetPositionLast(TINOSMovePathVec& ovPos)
        {
            // get last position
            ovPos = m_vEnd;
        }
        virtual void GetDerivative(uint32 auLevel, double adP, TINOSMovePathVec& ovDir) = 0;
        virtual void GetD2max(TINOSMovePathVec& ovDir) = 0;
        virtual void GetD3max(TINOSMovePathVec& ovDir) = 0;
        virtual void GetDerivativeBgn(uint32 auLevel, TINOSMovePathVec& ovDir) = 0;
        virtual void GetDerivativeEnd(uint32 auLevel, TINOSMovePathVec& ovDir) = 0;
 
        CINOSMovePathSegment* GetNext()
        {
            // return pointer to next segment
            return m_pNxtSegment;
        }
 
        void SetNext(CINOSMovePathSegment* apSegment)
        {
            // set pointer to next segment
            m_pNxtSegment = apSegment;
        }
 
        CINOSMovePathSegment* GetPrevious()
        {
            // return pointer to previous segment
            return m_pPrvSegment;
        }
 
        void SetPrevious(CINOSMovePathSegment* apSegment)
        {
            // set pointer to previous segment
            m_pPrvSegment = apSegment;
        }
 
 
        uint32 GetInvolved()
        {
            // return mask of involved axes
            return m_uInvolved;
        }
 
        double GetStart()
        {
            // return start
            return m_dStart;
        }
 
        virtual void SetStart(double& adP)
        {
            m_dStart = adP;
            adP += m_dLength;
            m_dEnd = adP;
        }
 
        double GetEnd()
        {
            // return end
            return m_dEnd;
        }
 
        double GetTolerance()
        {
            // return tolerance
            return m_dTolerance;
        }
 
        double GetVelocity()
        {
            // return velocity
            return m_dVelocity;
        }
 
        uint32 GetLengthMask()
        {
            // return mask
            return m_uLengthMask;
        }
 
        virtual uint32 Check() = 0;
        virtual uint32 Prepare(double& adP, uint32 uIncremental, TINOSMovePathVec& ovPos, double adEpsilon) = 0;
 
        virtual void Recalc(double& adP, TINOSMovePathVec& ovStart, uint32 auInvolved, double adEpsilon) = 0;
 
        virtual bool IsStartBlendingAllowed()
        {
            // no
            return false;
        }
 
        virtual bool IsEndBlendingAllowed()
        {
            // no
            return false;
        }
 
        virtual bool IsContinuous(uint32 auLevel) = 0;
 
    //--- internals --------------------------------------------------------
 
    friend class CINOSMovePath;
    friend class CINOSMovePathCurve;
 
    // constructor / destructor
    public :
        CINOSMovePathSegment ()
        {
            // init segment
            Init(0, DF_INOS_MOVEPATH_FLAG_PURE_LINEAR, DF_INOS_MOVEPATH_TOLERANCE_DEFAULT,
                DF_INOS_MOVEPATH_VELOCITY_DEFAULT);
        }
        CINOSMovePathSegment (uint32 auId, uint32 auFlags, double adTolerance,
            double adVelocity)
        {
            // init segment
            Init(auId, auFlags|DF_INOS_MOVEPATH_FLAG_PURE_LINEAR, adTolerance, adVelocity);
        }
        virtual ~CINOSMovePathSegment ()
        {
        }
 
    // private members
    private :
 
        void Init (uint32 auId, uint32 auFlags, double adTolerance,
            double adVelocity);
    // protected members
    protected :
        uint32 m_uInvolved;
        uint32 m_uAbsolute;
        uint32 m_uIncremental;
        uint32 m_uLengthMask;
        double m_dTolerance;
        double m_dVelocity;
 
        double m_dStart;
        double m_dEnd;
        TINOSMovePathVec m_vStart;
        TINOSMovePathVec m_vEnd;
 
        CINOSMovePathSegment* m_pNxtSegment;
        CINOSMovePathSegment* m_pPrvSegment;
 
    // dynamic object handling
    DECLARE_DYNAMIC(CINOSMovePathSegment);
};
 
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHSEGMENT_H