Inheritance diagram for CINOSMovePathInterpolatorNurbs:

Public Member Functions
virtual double	GetCurveLength () override
	get curve length

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

virtual void	GetDirection (double adP, TINOSMovePathVec &ovDir) override
	get direction vector at 'adP'

virtual void	GetDirectionLast (TINOSMovePathVec &ovDir) override
	get direction vector at the end

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

virtual void	GetD2max (double adBgn, double adEnd, TINOSMovePathVec &aD2max) override
	get max D2 vector of given range

virtual void	GetD3max (double adBgn, double adEnd, TINOSMovePathVec &aD3max) override
	get max D3 vector of given range

virtual uint32	Prepare () override
	do precalculation

	CINOSMovePathInterpolatorNurbs (CINOSMovePathCurve apCurve, CINOSMovePath apPath=NULL)
	constructor

virtual	~CINOSMovePathInterpolatorNurbs ()
	destructor

virtual uint32	PreparePart (CINOSMovePathSegmentBase apBgn, CINOSMovePathSegmentBase apEnd, CINOSMovePathSegmentBase *apNxt, double adTolerance, double adShorten=0.0, double adExtend=0.0)
	prepare part

virtual SINOSNurbsPart *	GetPart (double adP)
	get part

virtual double	CalcAngle (CINOSMovePathSegment apSeg1, CINOSMovePathSegment apSeg2)
	calc angle between segments

uint32	GetPartPoints (CINOSMovePathSegmentBase apBgn, CINOSMovePathSegmentBase apEnd, double adTolerance)
	get number of part points

Public Member Functions inherited from CINOSMovePathInterpolator
virtual bool	IsCurveContinuous (uint32 auLevel)
	check if curve continuous

CINOSMovePathInterpolatorSegment *	GetFirstSegment ()

CINOSMovePathInterpolatorSegment *	GetLastSegment ()

void	AddSegment (CINOSMovePathInterpolatorSegment *apSegment)

virtual uint32	ConnectSegments (CINOSMovePathInterpolator *apOther)

virtual	~CINOSMovePathInterpolator ()
	destructor

Protected Member Functions
virtual void	Cleanup () override
	cleanup

	DECLARE_DYNAMIC (CINOSMovePathInterpolatorNurbs)

Protected Member Functions inherited from CINOSMovePathInterpolator
	CINOSMovePathInterpolator (CINOSMovePathCurve apCurve, class CINOSMovePath apPath=NULL)
	constructor

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
double	m_dLength
	curve length

uint32	m_uParts
	number of parts

uint32	m_uLastPart
	last part index

SINOSNurbsPart *	m_pPart [DF_INOS_MOVEPATH_MAX_POINTS]
	array of parts

double	m_dVectorLength [DF_INOS_MOVEPATH_MAX_POINTS > >1]
	sub parts vector lengths

double	m_dVectorize
	vectorize factor

uint32	m_uInterpolationPoints = DF_INOS_NURBSCURVE_INTERPOLATION_POINTS
	nurbs interpolation points

bool	m_bOverlapPos {}
	overlap position valid

TINOSMovePathVec	m_OverlapPos {}
	overlap position

double	m_dOverlapExtend {}
	overlap reduce length

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

◆ Cleanup()

virtual void CINOSMovePathInterpolatorNurbs::Cleanup ( )

overrideprotectedvirtual

cleanup

Reimplemented from CINOSMovePathInterpolator.

◆ GetCurveLength()

virtual double CINOSMovePathInterpolatorNurbs::GetCurveLength ( )

overridevirtual

get curve length

Reimplemented from CINOSMovePathInterpolator.

◆ GetD2max()

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

overridevirtual

get max D2 vector of given range

Reimplemented from CINOSMovePathInterpolator.

◆ GetD3max()

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

overridevirtual

get max D3 vector of given range

Reimplemented from CINOSMovePathInterpolator.

◆ GetDerivative()

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

overridevirtual

get auLevel derivative vector at 'adP'

Reimplemented from CINOSMovePathInterpolator.

◆ GetDirection()

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

overridevirtual

get direction vector at 'adP'

Reimplemented from CINOSMovePathInterpolator.

◆ GetDirectionLast()

virtual void CINOSMovePathInterpolatorNurbs::GetDirectionLast ( TINOSMovePathVec & ovDir )

overridevirtual

get direction vector at the end

Reimplemented from CINOSMovePathInterpolator.

◆ GetPosition()

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

overridevirtual

get position vector at 'adP'

Reimplemented from CINOSMovePathInterpolator.

◆ Prepare()

virtual uint32 CINOSMovePathInterpolatorNurbs::Prepare ( )

overridevirtual

do precalculation

Reimplemented from CINOSMovePathInterpolator.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Cleanup()

◆ GetCurveLength()

◆ GetD2max()

◆ GetD3max()

◆ GetDerivative()

◆ GetDirection()

◆ GetDirectionLast()

◆ GetPosition()

◆ Prepare()