Inheritance diagram for CINOSMovePathInterpolatorShape:

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

virtual double	GetCurveLength () override
	get curve length

virtual bool	IsCurveContinuous (uint32 auLevel) override
	check if curve continuous

virtual uint32	Prepare () override
	do precalculation

virtual uint32	ConnectSegments (CINOSMovePathInterpolator *apOther) override

	CINOSMovePathInterpolatorShape (CINOSMovePathCurve apCurve, CINOSMovePath apPath=nullptr)
	constructor

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

CINOSMovePathInterpolatorSegment *	GetFirstSegment ()

CINOSMovePathInterpolatorSegment *	GetLastSegment ()

void	AddSegment (CINOSMovePathInterpolatorSegment *apSegment)

virtual	~CINOSMovePathInterpolator ()
	destructor

Protected Member Functions
void	CalcTandV (TINOSMovePathVec &iP0, TINOSMovePathVec &iP1, TINOSMovePathVec &iVmax, double adVcmd, uint32 auMask, double &odT, double &odFactor, TINOSMovePathVec &oV)
	cal T and V vector of a segment

double	GetCorrectedP (double adP)
	get corrected P

virtual void	Cleanup () override
	cleanup

	DECLARE_DYNAMIC (CINOSMovePathInterpolatorShape)

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_dPlast = 0.0
	P of last GetPosition.

double	m_dLengthCorrection = 0.0
	curve length correction

double	m_dConnectionLength = 0.0
	curve length correction

class CINOSRampJob *	m_pJob [DF_INOS_MOVEPATH_MAX_AXES]
	ramp jobs

struct SCorr *	m_pFstCorr = nullptr
	pointer to head of correctino list

struct SCorr *	m_pLstCorr = nullptr

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 CINOSMovePathInterpolatorShape::Cleanup ( )

overrideprotectedvirtual

cleanup

virtual uint32 CINOSMovePathInterpolatorShape::ConnectSegments ( CINOSMovePathInterpolator * apOther )

overridevirtual

virtual double CINOSMovePathInterpolatorShape::GetCurveLength ( )

overridevirtual

get curve length

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

overridevirtual

get position vector at 'adP'

virtual bool CINOSMovePathInterpolatorShape::IsCurveContinuous ( uint32 auLevel )

inlineoverridevirtual

check if curve continuous

virtual uint32 CINOSMovePathInterpolatorShape::Prepare ( )

overridevirtual

do precalculation

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

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