Public Member Functions
uint32	AddSegment (CINOSMovePathSegment *apSegment)
	add segment to curve

void	RemSegment (CINOSMovePathSegment *apSegment, bool abDelete=true)
	remove segment from curve

void	RemSegment (CINOSMovePathSegment apFirst, CINOSMovePathSegment apLast)
	remove segments from curve (excluding apFirst and apLast)

void	InsSegment (CINOSMovePathSegment apStart, CINOSMovePathSegment apSegment)
	insert segment in curve after apStart or at the beginning if apStart == 0

uint32	AppendCurve (CINOSMovePathCurve *apOtherCurve)

CINOSMovePathSegment *	GetSegment (uint32 auIndex)
	get pointer to segment auIndex

CINOSMovePathSegment *	GetSegment (double adP)
	get pointer to segment at 'adP'

uint32	GetSegmentId (double adP)
	get id of segment at 'adP'

CINOSMovePathSegment *	GetSegmentFirst ()
	get pointer to first segment

CINOSMovePathSegment *	GetSegmentLast ()
	get pointer to last segment

bool	GetPosition (uint32 auIndex, TINOSMovePathVec &ovPos)
	get position vector auIndex

bool	GetPosition (double adP, TINOSMovePathVec &ovPos)
	get position vector at 'adP'

bool	GetPosition (double &adP, CINOSMovePathSegment *&opSegment, TINOSMovePathVec &ovPos)
	get position vector at 'adP'

bool	GetDirection (double adP, TINOSMovePathVec &ovDir)
	get direction vector at 'adP'

void	GetDirectionLast (TINOSMovePathVec &ovDir)
	get last position vector

void	GetDerivative (uint32 auLevel, double adP, TINOSMovePathVec &ovDer)
	get auLevel derivative at 'adP'

bool	GetD2max (double adP, TINOSMovePathVec &ovDir)
	get D2 max of segment containing 'adP'

bool	GetD3max (double adP, TINOSMovePathVec &ovDir)
	get D3 max of segment containing 'adP'

void	GetPositionFirst (TINOSMovePathVec &ovPos)
	get start position vector

void	GetPositionLast (TINOSMovePathVec &ovPos)
	get last position vector

void	GetPositionLast (CINOSMovePathSegment *&opSegment, TINOSMovePathVec &ovPos)
	get last position vector

void	SetStart (TINOSMovePathVec &ivPos)
	set start position vector

void	SetStart (uint8 auIndex, double adPosition)
	set start position of axis auIndex

void	GetStart (TINOSMovePathVec &ovPos)
	get start position vector

virtual double	GetLength ()
	get curve length

virtual void	SetLength (double dLength)
	get curve length

virtual uint32	GetSegments ()
	get number of segments

uint32	GetFlags ()
	get flags

void	SetFlags (uint32 auFlags)
	set flags

void	ClearFlags (uint32 auFlags)

virtual uint32	Recalc (CINOSMovePathSegment *apSegment, double adEpsilon)
	recalculate curve starting at end of segment apSegment

virtual uint32	Prepare (TINOSMovePathVec &ivAct, double &adActP, double adTolerance, double adEpsilon)
	do precalculation with actual position vector

virtual void	Reset (uint32 auFlags=DF_INOS_MOVEPATH_FLAG_INC\|DF_INOS_MOVEPATH_FLAG_RELOCATABLE\|DF_INOS_MOVEPATH_FLAG_PURE_LINEAR, double adTolerance=DF_INOS_MOVEPATH_TOLERANCE_DEFAULT, double adVelocity=DF_INOS_MOVEPATH_VELOCITY_DEFAULT)
	reset curve

uint32	GetInvolved ()
	get involved axes

virtual bool	IsRelocatable ()
	return true if curve is relocatable

virtual bool	IsZeroBased ()
	return true if curve is zero based

virtual bool	IsPureLinear ()
	return true if curve is pure linear

virtual bool	IsIncomplete ()

virtual bool	IsContinuation ()

virtual bool	IsContinuous (uint32 auLevel)
	return true if curve is requested level continuous

virtual bool	IsContinuous (CINOSMovePathSegment apSeg1, CINOSMovePathSegment apSeg2, uint32 auLevel)
	return true if curve is requested level continuous

double	GetTolerance ()
	get curve tolerance

double	GetTolerance (CINOSMovePathSegment *apSegment, double adDefaultTolerance=DF_INOS_MOVEPATH_TOLERANCE_DEFAULT)
	get segment tolerance

double	GetVelocity ()
	get commanded curve velocity

double	GetVelocity (double adP)
	get commanded curve velocity at given position

double	GetVelocity (CINOSMovePathSegment *apSegment, double adDefaultVelocity=DF_INOS_MOVEPATH_VELOCITY_DEFAULT)
	get segment velocity

CINOSMovePathInterpolator *	GetInterpolator ()

	CINOSMovePathCurve ()
	constructor

virtual	~CINOSMovePathCurve ()
	destructor

virtual uint32	SetInterpolator (CINOSMovePathInterpolator *apInterpolator)

virtual void	DestroySegments ()

virtual CINCOObject *	RequestRegister ()
	return pointer to inco registration

void	ReleaseRegister ()
	release inco registration

Protected Member Functions
CINCOObject *	GetRegister ()
	get pointer to inco registration (if any)

	DECLARE_DYNAMIC (CINOSMovePathCurve)

Protected Attributes
CINOSMovePathInterpolator *	m_pInterpolator
	pointer to interpolator

uint32	m_uFlags
	flags

uint32	m_uSegments
	number of segments

uint32	m_uInvolved
	involved axes

double	m_dLength
	curve length

double	m_dTolerance
	curve tolerance

double	m_dVelocity
	curve velocity

uint32	m_uLstIndex
	last search index

CINOSMovePathSegment *	m_pLstIndex

double	m_dLstP
	last search P

CINOSMovePathSegment *	m_pLstP

uint32	m_uStartValid
	pattern of valid startpos indexes

TINOSMovePathVec	m_vStart
	start position vector

TINOSMovePathVec	m_vActual
	actual position vector (used at prepare)

uint32	m_uRegisterCnt = 0
	inco tree registration counter

CINCOObject *	m_pRegister = nullptr
	pointer to inco registration

CINOSMovePathSegment *	m_pFstSegment
	pointer to head of curve segments

CINOSMovePathSegment *	m_pLstSegment
	pointer to tail of curve segments

Friends
class	CINOSMovePath

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepathcurve.h

Public Member Functions

Protected Member Functions

Protected Attributes

Friends