CINOSMovePathPartClothoid Class Reference

Inheritance diagram for CINOSMovePathPartClothoid:

Public Types
enum	{ eOptNone = 0x00000000 , eOptClockWise = 0x00000001 , eOptInverted = 0x00000002 }
	clothoid options
Public Types inherited from CINOSMovePathPart
enum	{   eTypeUnknown , eTypeLinear , eTypeLinearBay , eTypeCircle ,   eTypeRapid }

Public Member Functions
virtual uint8	GetMainAxisIndex () override
	get main axis index (relevant for abs/inc/nlg)
virtual uint32	GetInvolved () override
	get mask of involved axes
virtual double	Prepare (uint32 auIncremental, double *apPosition) override
	prepare part
virtual void	GetPosition (double adP, double *apPosition) override
	get position at P
virtual void	GetDerivative (uint32 auLevel, double adP, double *apDerivative) override
	get auLevel derivative at P
virtual void	GetD2max (double *apD2max) override
	get max 2. derivative of part
virtual void	GetD3max (double *apD3max) override
	get max 3. derivative of part
	CINOSMovePathPartClothoid (uint8 auIndex1, uint8 auIndex2, double adR, double adL, double adRotationAngle, uint32 auOptions)
virtual	~CINOSMovePathPartClothoid ()
	destructor
Public Member Functions inherited from CINOSMovePathPart
uint8	GetType ()
	get part type
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

Static Public Member Functions
static double	GetTangentLength (double adR, double adL, double adGamma)
static void	GetXY (double adL, uint32 auOptions, double &adX, double &adY, SINOSMovePathPartClothoidConstants &asConst)
	get clothoid coordinates
static void	InitConstants (double adA, SINOSMovePathPartClothoidConstants &asConst)
	init calculation constants

Protected Member Functions
double	GetD2x (double adP)
	get 2. derivative of x coord at given P
double	GetD2y (double adP)
	get 2. derivative of y coord at given P
double	GetD3x (double adP)
	get 3. derivative of x coord at given P
double	GetD3y (double adP)
	get 3. derivative of y coord at given P
	DECLARE_DYNAMIC (CINOSMovePathPartClothoid)
Protected Member Functions inherited from CINOSMovePathPart
	DECLARE_DYNAMIC (CINOSMovePathPart)

Protected Attributes
uint8	m_uIndex [2]
	axis indexes
uint32	m_uOptions
	clothoid options
double	m_dR
	requested radius
double	m_dL
	requested length
double	m_dA
	clothoid param A
double	m_dA_2
double	m_dA_4
double	m_dRotationAngle
	rotation angle
double	m_dCosA
	rotation factors
double	m_dSinA
double	m_dXe
	calc end coordinates
double	m_dYe
SINOSMovePathPartClothoidConstants	m_sConst
Protected Attributes inherited from CINOSMovePathPart
uint8	m_uType
	part type
class CINOSMovePathSegment *	m_pSegment
	pointer to my segment

Friends
class	CINOSMovePath

Constructor & Destructor Documentation

CINOSMovePathPartClothoid()

CINOSMovePathPartClothoid::CINOSMovePathPartClothoid	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adR,
		double	adL,
		double	adRotationAngle,
		uint32	auOptions
	)

Clothoid part : A = sqrt(R*L)

Parameters

auIndex1	Index of the first axis
auIndex2	Index of the second axis
adR	End radius, R of A^2=R*L
adL	Clothoid length, L of A^2=R*L
auOptions	see enum clothoid options

Member Function Documentation

GetD2max()

virtual void CINOSMovePathPartClothoid::GetD2max ( double *  apD2max )

overridevirtual

get max 2. derivative of part

Implements CINOSMovePathPart.

GetD3max()

virtual void CINOSMovePathPartClothoid::GetD3max ( double *  apD3max )

overridevirtual

get max 3. derivative of part

Implements CINOSMovePathPart.

GetDerivative()

virtual void CINOSMovePathPartClothoid::GetDerivative ( uint32  auLevel, double  adP, double *  apDerivative  )

overridevirtual

get auLevel derivative at P

Implements CINOSMovePathPart.

GetInvolved()

virtual uint32 CINOSMovePathPartClothoid::GetInvolved ( )

inlineoverridevirtual

get mask of involved axes

Implements CINOSMovePathPart.

GetMainAxisIndex()

virtual uint8 CINOSMovePathPartClothoid::GetMainAxisIndex ( )

inlineoverridevirtual

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

Implements CINOSMovePathPart.

GetPosition()

virtual void CINOSMovePathPartClothoid::GetPosition ( double  adP, double *  apPosition  )

overridevirtual

get position at P

Implements CINOSMovePathPart.

GetTangentLength()

static double CINOSMovePathPartClothoid::GetTangentLength ( double  adR, double  adL, double  adGamma  )

static

return tangent length from starting point of clothoid till intersection point of the two base linear segments

Prepare()

virtual double CINOSMovePathPartClothoid::Prepare ( uint32  auIncremental, double *  apPosition  )

overridevirtual

prepare part

Implements CINOSMovePathPart.

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

• /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepathpartclothoid.h