#include <cinosmovepathpartcircle.h>
Public Types | |
| enum | { eOptNone = 0x00000000 , eOptClockWise = 0x00000001 } |
| circle options | |
 Public Types inherited from CINOSMovePathPart | |
| enum | { eTypeUnknown , eTypeLinear , eTypeLinearBay , eTypeCircle , eTypeRapid } |
Public Member Functions | |
| virtual uint8 | GetMainAxisIndex () |
| get main axis index (relevant for abs/inc/nlg) | |
| virtual uint32 | GetInvolved () |
| get mask of involved axes | |
| double | GetRadius () |
| get circle radius | |
| virtual double | Prepare (uint32 auIncremental, double *apPosition) |
| prepare part | |
| virtual void | GetPosition (double adP, double *apPosition) |
| get position at P | |
| virtual void | GetDerivative (uint32 auLevel, double adP, double *apDerivative) |
| get auLevel derivative at P | |
| virtual void | GetD2max (double *apD2max) |
| get max 2. derivative of part | |
| virtual void | GetD3max (double *apD2max) |
| get max 3. derivative of part | |
| virtual double | GetMaxVectorLength (double adError) |
| get max linear error | |
| virtual bool | IsStartBlendingAllowed () |
| return true if start blending allowed | |
| virtual bool | IsEndBlendingAllowed () |
| return true if end blending allowed | |
| CINOSMovePathPartCircle (uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auOptions) | |
| CINOSMovePathPartCircle (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auOptions) | |
| CINOSMovePathPartCircle (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auOptions) | |
| virtual | ~CINOSMovePathPartCircle () |
| destructor | |
| Public Member Functions inherited from CINOSMovePathPart | |
| uint8 | GetType () |
| get part type | |
| 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 (CINOSMovePathPartCircle) | |
| Protected Member Functions inherited from CINOSMovePathPart | |
| DECLARE_DYNAMIC (CINOSMovePathPart) | |
Protected Attributes | |
| uint8 | m_uSubType |
| circle type | |
| uint8 | m_uIndex [2] |
| axis indexes | |
| uint32 | m_uOptions |
| circle options | |
| double | m_dAngle |
| requested angle | |
| double | m_dAlpha |
| calculated angle | |
| double | m_dAlpha0 |
| starting angle | |
| double | m_dRadius |
| requested radius | |
| double | m_dRadiusEnd |
| radius at end of circle | |
| double | m_dMidO [2] |
| circle middle point (original) | |
| double | m_dMidC [2] |
| circle middle point (calculated) | |
| double | m_dEndO [2] |
| circle end point (original) | |
| double | m_dEndC [2] |
| circle end point (calculated) | |
| Protected Attributes inherited from CINOSMovePathPart | |
| uint8 | m_uType |
| part type | |
| class CINOSMovePathSegment * | m_pSegment |
| pointer to my segment | |
Friends | |
| class | CINOSMovePath |
Detailed Description
Used to move along a circle or a part of a circle (arc). The circle/arc can be defined by different mathematical models (see the different constructors) - depending on the application, one model may fit better than the other. Finally, it doesn't matter which CTOR is chosen as the circle/arc definition is converted into the same internal representation.
Constructor & Destructor Documentation
◆ CINOSMovePathPartCircle() [1/3]
| CINOSMovePathPartCircle::CINOSMovePathPartCircle | ( | uint8 | auIndex1, |
| uint8 | auIndex2, | ||
| double | adMid1, | ||
| double | adMid2, | ||
| double | adAngle, | ||
| bool | abAngleAbsolute, | ||
| uint32 | auOptions | ||
| ) |
Circle/arc defined by: The center of the circle (x/y), an angle [degree] which is either relative or absolute and the moving direction. Implicitly, the "current axes position" lies on the arc as well.
e.g. (adMid1/adMid2) = (0 [mm] / 0 [mm]), adAngle = -90 [degree], abAngleAbsolute = false (move relative from current position on the circle), abCw = true (move clock wise)
- Parameters
-
auIndex1 Index of the first axis auIndex2 Index of the second axis adMid1 Position of center of the circle of the axis defined by auIndex1 in the units of the axis. e.g. x=30 for 30mm adMid2 Position of center of the circle of the axis defined by auIndex2 in the units of the axis. e.g. y=45 for 45mm adAngle Angle in [degree] of the arc. e.g. 90 degree: causes a quarter circle if abAngleAbsolute is false, or causes an arc from the current position to 90 degree on the circle absolute (where 0.0 degree absolute is on the "right side" of the circle see http://en.wikipedia.org/wiki/Unit_circle) auOptions see enum circle options
◆ CINOSMovePathPartCircle() [2/3]
| CINOSMovePathPartCircle::CINOSMovePathPartCircle | ( | uint8 | auIndex1, |
| uint8 | auIndex2, | ||
| double | adEnd1, | ||
| double | adEnd2, | ||
| double | adMid1, | ||
| double | adMid2, | ||
| uint32 | auOptions | ||
| ) |
Circle/arc defined by: The end point of the circle or arc (x/y), the center of it (x/y) and the moving direction. Implicitly, the "current axes position" lies on the arc as well.
e.g. center: (adMid1/adMid2) = (0 [mm] / 0 [mm]), (adEnd1/adEnd2) = (1 [mm] / 2 [mm]), clock wise
- Parameters
-
auIndex1 Index of the first axis auIndex2 Index of the second axis adEnd1 Position of end point of the arc of the axis defined by auIndex1 in the units of the axis. e.g. x=89 for 89mm adEnd2 Position of end point of the arc of the axis defined by auIndex2 in the units of the axis. e.g. y=67 for 67mm adMid1 Position of center of the circle of the axis defined by auIndex1 in the units of the axis. e.g. x=30 for 30mm adMid2 Position of center of the circle of the axis defined by auIndex2 in the units of the axis. e.g. y=45 for 45mm auOptions see enum circle options
◆ CINOSMovePathPartCircle() [3/3]
| CINOSMovePathPartCircle::CINOSMovePathPartCircle | ( | uint8 | auIndex1, |
| uint8 | auIndex2, | ||
| double | adEnd1, | ||
| double | adEnd2, | ||
| double | adRadius, | ||
| uint32 | auOptions | ||
| ) |
Circle/arc defined by: The end point of the circle or arc (x/y), the radius of it in the unit of the axes and the rotation direction. implicitly, the "current axes position" lies on the arc as well.
Note: Mathematically, the calculation of the circle center point yields two solutions. To have a perfectly defined circle/arc, the 'sign of the radius' (adRadius) will be taken together with the chosen moving direction (abCw) to either chose the resulting arc with "the smaller moving distance" (positive radius) or the solution resulting with an arc "with the bigger moving distance" (negative radius). Defining an arc like this is common in CNC applications.
e.g. center: (x/y) = (3 [mm] / 4 [mm]), radius: -1 [mm] (radius is negative; means: chose the center point resulting with the bigger arc), move counter clock wise
- Parameters
-
auIndex1 Index of the first axis auIndex2 Index of the second axis adEnd1 Position of end point of the arc of the axis defined by auIndex1 in the units of the axis. e.g. x=89 for 89mm adEnd2 Position of end point of the arc of the axis defined by auIndex2 in the units of the axis. e.g. y=67 for 67mm adRadius Radius of the circle/arc in the unit of the axes. The radius may be negative, see the notes above for an explanation of this feature auOptions see enum circle options
Member Function Documentation
◆ GetD2max()
get max 2. derivative of part
Implements CINOSMovePathPart.
◆ GetD3max()
get max 3. derivative of part
Implements CINOSMovePathPart.
◆ GetDerivative()
|
virtual |
get auLevel derivative at P
Implements CINOSMovePathPart.
◆ GetInvolved()
|
inlinevirtual |
get mask of involved axes
Implements CINOSMovePathPart.
◆ GetMainAxisIndex()
get main axis index (relevant for abs/inc/nlg)
Implements CINOSMovePathPart.
◆ GetMaxVectorLength()
get max linear error
Reimplemented from CINOSMovePathPart.
◆ GetPosition()
get position at P
Implements CINOSMovePathPart.
◆ IsEndBlendingAllowed()
return true if end blending allowed
Reimplemented from CINOSMovePathPart.
◆ IsStartBlendingAllowed()
return true if start blending allowed
Reimplemented from CINOSMovePathPart.
◆ Prepare()
|
virtual |
prepare part
Implements CINOSMovePathPart.
The documentation for this class was generated from the following file:
- /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepathpartcircle.h
