INOS
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CINOSMovePathInterpolatorClothoid Class Reference
Inheritance diagram for CINOSMovePathInterpolatorClothoid:
Inheritance graph
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Public Member Functions

virtual void GetPosition (double adP, CINOSMovePathSegment *&opSegment, TINOSMovePathVec &ovPos) override
 get position vector at 'adP'
 
virtual uint32 Prepare () override
 do precalculation
 
virtual bool IsCurveContinuous (uint32 auLevel) override
 check if curve continuous
 
 CINOSMovePathInterpolatorClothoid (CINOSMovePathCurve *apCurve, CINOSMovePath *apPath=NULL)
 constructor
 
virtual ~CINOSMovePathInterpolatorClothoid ()
 destructor
 
double CalcAngleAndDirection (TINOSMovePathVec &vDir1, TINOSMovePathVec &vDir2, bool &abCw)
 calc angle between segment1 and segment2 and direction
 
double CalcRotationAngle (TINOSMovePathVec &vVector1, TINOSMovePathVec &vVector2)
 calc angle between vector1 and vector2
 
uint32 CalcIntersection (CINOSMovePathSegment *apSegment1, CINOSMovePathSegment *apSegment2, TINOSMovePathVec &vIntersection)
 calc intersection vector between linear segment1 and linear segment2
 
- Public Member Functions inherited from CINOSMovePathInterpolator
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
 
CINOSMovePathInterpolatorSegment * GetFirstSegment ()
 
CINOSMovePathInterpolatorSegment * GetLastSegment ()
 
void AddSegment (CINOSMovePathInterpolatorSegment *apSegment)
 
virtual uint32 ConnectSegments (CINOSMovePathInterpolator *apOther)
 
virtual ~CINOSMovePathInterpolator ()
 destructor
 

Protected Member Functions

 DECLARE_DYNAMIC (CINOSMovePathInterpolatorClothoid)
 
- Protected Member Functions inherited from CINOSMovePathInterpolator
 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)
 

Protected Attributes

uint8 ind0 = 0
 axes indexes
 
uint8 ind1 = 1
 
- Protected Attributes inherited from CINOSMovePathInterpolator
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
 

Additional Inherited Members

- Public Types inherited from CINOSMovePathInterpolator
typedef std::function< CINOSMovePathInterpolator *(CINOSMovePathCurve *, CINOSMovePath *)> TINOSInterpolatorConstructor
 
- Static Public Member Functions inherited from CINOSMovePathInterpolator
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 inherited from CINOSMovePathInterpolator
typedef std::map< std::string, TINOSInterpolatorConstructor > TINOSInterpolatorMap
 
- Static Protected Member Functions inherited from CINOSMovePathInterpolator
static TINOSInterpolatorMap & GetInterpolatorsMap ()
 get interpolatos map, to avoid inserting before initialization
 

Member Function Documentation

◆ GetPosition()

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

get position vector at 'adP'

Reimplemented from CINOSMovePathInterpolator.

◆ IsCurveContinuous()

virtual bool CINOSMovePathInterpolatorClothoid::IsCurveContinuous ( uint32  auLevel)
overridevirtual

check if curve continuous

Reimplemented from CINOSMovePathInterpolator.

◆ Prepare()

virtual uint32 CINOSMovePathInterpolatorClothoid::Prepare ( )
overridevirtual

do precalculation

Reimplemented from CINOSMovePathInterpolator.

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