INOS
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CINOSMovePathPartLinearBay Class Reference
Inheritance diagram for CINOSMovePathPartLinearBay:
Inheritance graph
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Public Member Functions

virtual uint8 GetMainAxisIndex ()
 get main axis index (relevant for abs/inc/nlg)
 
virtual uint32 GetInvolved ()
 get mask of involved axes
 
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 *apD3max)
 get max 3. derivative of part
 
- 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
 

Protected Member Functions

 CINOSMovePathPartLinearBay (uint8 auIndexR, uint8 auIndexX, double adValueR, double adValueX, double adGripperLength)
 constructor
 
virtual ~CINOSMovePathPartLinearBay ()
 destructor
 
double rad (double a)
 convert deg -> rad
 
double deg (double a)
 convert rad -> deg
 
 DECLARE_DYNAMIC (CINOSMovePathPartLinearBay)
 
- Protected Member Functions inherited from CINOSMovePathPart
 DECLARE_DYNAMIC (CINOSMovePathPart)
 

Protected Attributes

uint8 m_uIndexR
 index axis R
 
uint8 m_uIndexX
 index axis X
 
double m_dLength
 part length
 
double m_dPosR0
 R0.
 
double m_dOfsX0
 X0 offset.
 
double m_dValueR
 requested R value
 
double m_dValueX
 requested X value
 
double m_dGripperLength
 gripper length
 
double m_dGripperLength_1
 1 / gripper length
 
- Protected Attributes inherited from CINOSMovePathPart
uint8 m_uType
 part type
 
class CINOSMovePathSegment * m_pSegment
 pointer to my segment
 

Friends

class CINOSMovePath
 

Additional Inherited Members

- Public Types inherited from CINOSMovePathPart
enum  {
  eTypeUnknown , eTypeLinear , eTypeLinearBay , eTypeCircle ,
  eTypeRapid
}
 

Member Function Documentation

◆ GetD2max()

virtual void CINOSMovePathPartLinearBay::GetD2max ( double *  apD2max)
virtual

get max 2. derivative of part

Implements CINOSMovePathPart.

◆ GetD3max()

virtual void CINOSMovePathPartLinearBay::GetD3max ( double *  apD3max)
virtual

get max 3. derivative of part

Implements CINOSMovePathPart.

◆ GetDerivative()

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

get auLevel derivative at P

Implements CINOSMovePathPart.

◆ GetInvolved()

virtual uint32 CINOSMovePathPartLinearBay::GetInvolved ( )
inlinevirtual

get mask of involved axes

Implements CINOSMovePathPart.

◆ GetMainAxisIndex()

virtual uint8 CINOSMovePathPartLinearBay::GetMainAxisIndex ( )
inlinevirtual

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

Implements CINOSMovePathPart.

◆ GetPosition()

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

get position at P

Implements CINOSMovePathPart.

◆ Prepare()

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

prepare part

Implements CINOSMovePathPart.

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