CINOSMovePathInterpolator Class Reference

Inheritance diagram for CINOSMovePathInterpolator:

Public Types
typedef std::function< CINOSMovePathInterpolator *(CINOSMovePathCurve *, CINOSMovePath *)>	TINOSInterpolatorConstructor

Public Member Functions
virtual void	GetPosition (double adP, CINOSMovePathSegment *&opSegment, TINOSMovePathVec &ovPos)
	get position vector at 'adP'
virtual void	GetDirection (double adP, TINOSMovePathVec &ovDir)
	get direction vector at 'adP'
virtual void	GetDirectionLast (TINOSMovePathVec &ovDir)
	get direction vector at the end
virtual void	GetDerivative (uint32 auLevel, double adP, TINOSMovePathVec &ovDer)
	get auLevel derivative vector at 'adP'
virtual void	GetD2max (double adBgn, double adEnd, TINOSMovePathVec &aD2max)
	get max D2 vector of given range
virtual void	GetD3max (double adBgn, double adEnd, TINOSMovePathVec &aD3max)
	get max D3 vector of given range
virtual double	GetCurveLength ()
	get curve length
virtual bool	IsCurveContinuous (uint32 auLevel)
	check if curve continuous
virtual uint32	Prepare ()
	do precalculation
CINOSMovePathInterpolatorSegment *	GetFirstSegment ()
CINOSMovePathInterpolatorSegment *	GetLastSegment ()
void	AddSegment (CINOSMovePathInterpolatorSegment *apSegment)
virtual uint32	ConnectSegments (CINOSMovePathInterpolator *apOther)
virtual	~CINOSMovePathInterpolator ()
	destructor

Static Public Member Functions
static CINOSMovePathInterpolator *	CreateInterpolator (const char *apInterpolatorType, CINOSMovePathCurve *apCurve, CINOSMovePath *apMovePath)
static int	AddInterpolator (const char *apInterpolatorType, const TINOSInterpolatorConstructor &constructor_call)
	add new interpolator constructor to the interplators map
static bool	CheckInterpolatorType (const char *apInterpolatorType)
	check if an interpolator with the given name is in the interpolators map

Protected Types
typedef std::map< std::string, TINOSInterpolatorConstructor >	TINOSInterpolatorMap

Protected Member Functions
	CINOSMovePathInterpolator (CINOSMovePathCurve *apCurve, class CINOSMovePath *apPath=NULL)
	constructor
virtual void	Cleanup ()
	cleanup
class CINOSMovePath *	GetPath ()
	get pointer to my path
void	SetPath (class CINOSMovePath *apPath)
	set pointer to my path
class CINOSMovePathCurve *	GetCurve ()
	get pointer to my curve
bool	IsContinuous (CINOSMovePathSegment *apSegment1, CINOSMovePathSegment *apSegment2, uint32 auLevel)
	return true if segment 1 and 2 are auLevel continuous
bool	IsBlendingRequired (CINOSMovePathSegment *apSegment1, CINOSMovePathSegment *apSegment2)
	return true if blending between segment 1 and 2 required
bool	IsBlendingAllowed (CINOSMovePathSegment *apSegment1, CINOSMovePathSegment *apSegment2)
	return true if blending between segment 1 and 2 allowed
virtual CINCOObject *	RequestRegister ()
	return pointer to inco registration
void	ReleaseRegister ()
	release inco registration
CINCOObject *	GetRegister ()
	get pointer to inco registration (if any)
	DECLARE_DYNAMIC (CINOSMovePathInterpolator)

Static Protected Member Functions
static TINOSInterpolatorMap &	GetInterpolatorsMap ()
	get interpolatos map, to avoid inserting before initialization

Protected Attributes
inosName32	m_cType
	interpolator type
class CINOSMovePath *	m_pPath
	pointer to my path
char	m_cSpeedSet [64]
	speedset name
SINOSRampParam	m_sSpeedSet
	speedset
double	m_dTolerance
	requested tolerance
double	m_dCycleTime
	cycle time
double	m_dCycleTime_1
	inverse cycle time
uint32	m_uRegisterCnt = 0
	inco tree registration counter
CINCOObject *	m_pRegister = nullptr
	pointer to inco registration
CINOSMovePathCurve *	m_pCurve
class CINOSMovePathInterpolatorSegment *	m_pFirstSegment = nullptr
	array of interpolator segments
class CINOSMovePathInterpolatorSegment *	m_pLastSegment = nullptr

Friends
class	CINOSMovePath

Member Function Documentation

Cleanup()

virtual void CINOSMovePathInterpolator::Cleanup ( )

protectedvirtual

cleanup

Reimplemented in CINOSMovePathInterpolatorBlend, CINOSMovePathInterpolatorNurbs, and CINOSMovePathInterpolatorShape.

GetCurveLength()

virtual double CINOSMovePathInterpolator::GetCurveLength ( )

virtual

get curve length

Reimplemented in CINOSMovePathInterpolatorNurbs, and CINOSMovePathInterpolatorShape.

GetD2max()

virtual void CINOSMovePathInterpolator::GetD2max ( double  adBgn, double  adEnd, TINOSMovePathVec &  aD2max  )

virtual

get max D2 vector of given range

Reimplemented in CINOSMovePathInterpolatorNurbs.

GetD3max()

virtual void CINOSMovePathInterpolator::GetD3max ( double  adBgn, double  adEnd, TINOSMovePathVec &  aD3max  )

virtual

get max D3 vector of given range

Reimplemented in CINOSMovePathInterpolatorNurbs.

GetDerivative()

virtual void CINOSMovePathInterpolator::GetDerivative ( uint32  auLevel, double  adP, TINOSMovePathVec &  ovDer  )

virtual

get auLevel derivative vector at 'adP'

Reimplemented in CINOSMovePathInterpolatorNurbs.

GetDirection()

virtual void CINOSMovePathInterpolator::GetDirection ( double  adP, TINOSMovePathVec &  ovDir  )

virtual

get direction vector at 'adP'

Reimplemented in CINOSMovePathInterpolatorNurbs.

GetDirectionLast()

virtual void CINOSMovePathInterpolator::GetDirectionLast ( TINOSMovePathVec &  ovDir )

virtual

get direction vector at the end

Reimplemented in CINOSMovePathInterpolatorNurbs.

GetPosition()

virtual void CINOSMovePathInterpolator::GetPosition ( double  adP, CINOSMovePathSegment *&  opSegment, TINOSMovePathVec &  ovPos  )

virtual

get position vector at 'adP'

Reimplemented in CINOSMovePathInterpolatorBlend, CINOSMovePathInterpolatorClothoid, CINOSMovePathInterpolatorNurbs, and CINOSMovePathInterpolatorShape.

IsCurveContinuous()

virtual bool CINOSMovePathInterpolator::IsCurveContinuous ( uint32  auLevel )

inlinevirtual

check if curve continuous

Reimplemented in CINOSMovePathInterpolatorClothoid, CINOSMovePathInterpolatorNone, and CINOSMovePathInterpolatorShape.

Prepare()

virtual uint32 CINOSMovePathInterpolator::Prepare ( )

virtual

do precalculation

Reimplemented in CINOSMovePathInterpolatorBlend, CINOSMovePathInterpolatorClothoid, CINOSMovePathInterpolatorNone, CINOSMovePathInterpolatorNurbs, and CINOSMovePathInterpolatorShape.

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

• /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepathinterpolator.h