cinosmovepathtrajectorysegment.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHTRAJECTORYSEGMENT_H
#define INC_CINOSMOVEPATHTRAJECTORYSEGMENT_H
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
#include <cinosmovepathtrajectory.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathTrajectorySegment : public CINOSMovePathTrajectory
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        virtual uint32 GetMoveTime(double& adMoveTime, double adDelta = 0.0) override;
 
        virtual uint32 Stop() override
            { return 0; };
        virtual uint32 Break() override
            { return 0; };
        virtual uint32 Continue() override
            { return 0; };
 
    //--- internals --------------------------------------------------------
 
    // constructor / destructor
    public :
        CINOSMovePathTrajectorySegment (CINOSMovePath* apPath = NULL);
        virtual ~CINOSMovePathTrajectorySegment ();
 
        virtual uint32 PrepareAppend() override;
 
        virtual uint32 Append() override;
 
        virtual uint32 Prepare() override;
 
 
        virtual uint32 iPrepare()override;
        virtual bool GenData(CINOSMovePathSegment*& opSegment, double& adP,
            TINOSMovePathVec& vPos) override;
 
        double CheckFollow(CINOSMovePathInterpolatorSegment* apSegment,
            double adV, double adVmax);
 
    // protected members
    protected :
        CINOSMovePathInterpolatorSegment* m_pRunSegment = nullptr;
 
        CINOSMovePathInterpolatorSegment* m_pLastRunSegment = nullptr;
        double m_dMoveTime = 0.0;
 
        CINOSMovePathInterpolator* m_pInterpolator = nullptr;
    // dynamic
    DECLARE_DYNAMIC(CINOSMovePathTrajectorySegment);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHTRAJECTORYSEGMENT_H