INOS
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
CINOSMovePathPart Class Referenceabstract
Inheritance diagram for CINOSMovePathPart:
Inheritance graph
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Public Types

enum  {
  eTypeUnknown , eTypeLinear , eTypeLinearBay , eTypeCircle ,
  eTypeRapid
}
 

Public Member Functions

uint8 GetType ()
 get part type
 
virtual uint8 GetMainAxisIndex ()=0
 get main axis index (relevant for abs/inc/nlg)
 
virtual uint32 GetInvolved ()=0
 get mask of involved axes
 
virtual double Prepare (uint32 auIncremental, double *apPosition)=0
 prepare part
 
virtual void GetPosition (double adP, double *apPosition)=0
 get position at P
 
virtual void GetDerivative (uint32 auLevel, double adP, double *apDirection)=0
 get auLevel derivative at P
 
virtual void GetD2max (double *apD2max)=0
 get max 2. derivative of part
 
virtual void GetD3max (double *apD2max)=0
 get max 3. derivative of part
 
virtual double GetMaxVectorLength (double adError)
 get max vector length for given error
 
virtual bool IsStartBlendingAllowed ()
 return true if start blending allowed
 
virtual bool IsEndBlendingAllowed ()
 return true if end blending allowed
 
virtual bool IsContinuous (uint32 auLevel)
 return true if part is auLevel continuous
 
 CINOSMovePathPart ()
 constructor
 
 CINOSMovePathPart (uint8 auType)
 constructor
 
virtual ~CINOSMovePathPart ()
 destructor
 
void SetSegment (class CINOSMovePathSegment *apSegment)
 set pointer to my segment
 

Protected Member Functions

 DECLARE_DYNAMIC (CINOSMovePathPart)
 

Protected Attributes

uint8 m_uType
 part type
 
class CINOSMovePathSegment * m_pSegment
 pointer to my segment
 

Friends

class CINOSMovePath
 

Member Function Documentation

◆ GetD2max()

virtual void CINOSMovePathPart::GetD2max ( double *  apD2max)
pure virtual

get max 2. derivative of part

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ GetD3max()

virtual void CINOSMovePathPart::GetD3max ( double *  apD2max)
pure virtual

get max 3. derivative of part

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ GetDerivative()

virtual void CINOSMovePathPart::GetDerivative ( uint32  auLevel,
double  adP,
double *  apDirection 
)
pure virtual

get auLevel derivative at P

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ GetInvolved()

virtual uint32 CINOSMovePathPart::GetInvolved ( )
pure virtual

get mask of involved axes

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ GetMainAxisIndex()

virtual uint8 CINOSMovePathPart::GetMainAxisIndex ( )
pure virtual

get main axis index (relevant for abs/inc/nlg)

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ GetMaxVectorLength()

virtual double CINOSMovePathPart::GetMaxVectorLength ( double  adError)
inlinevirtual

get max vector length for given error

Reimplemented in CINOSMovePathPartCircle.

◆ GetPosition()

virtual void CINOSMovePathPart::GetPosition ( double  adP,
double *  apPosition 
)
pure virtual

get position at P

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

◆ IsEndBlendingAllowed()

virtual bool CINOSMovePathPart::IsEndBlendingAllowed ( )
inlinevirtual

return true if end blending allowed

Reimplemented in CINOSMovePathPartCircle, and CINOSMovePathPartLinear.

◆ IsStartBlendingAllowed()

virtual bool CINOSMovePathPart::IsStartBlendingAllowed ( )
inlinevirtual

return true if start blending allowed

Reimplemented in CINOSMovePathPartCircle, and CINOSMovePathPartLinear.

◆ Prepare()

virtual double CINOSMovePathPart::Prepare ( uint32  auIncremental,
double *  apPosition 
)
pure virtual

prepare part

Implemented in CINOSMovePathPartCircle, CINOSMovePathPartClothoid, CINOSMovePathPartLinear, and CINOSMovePathPartLinearBay.

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