base/LineSegTrajectoryRep

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/****************************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: LineSegTrajectoryRep 1029 2004-02-11 20:45:54Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:45:54 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _BASE_LINESEGTRAJECTORYREP_
#define _BASE_LINESEGTRAJECTORYREP_

#include <base/LineSegPathRep>
#include <base/TrajectoryTimeRep>
#include <base/Math>


namespace base {


/// Concrete trajectory representation as a line segment
class LineSegTrajectoryRep : public LineSegPathRep, public TrajectoryTimeRep
{
public:
  LineSegTrajectoryRep() 
  : st(0), et(1) {}
  LineSegTrajectoryRep(const Point3& sp, const Orient& so, Time st,
                       const Point3& ep, const Orient& eo, Time et)
    : LineSegPathRep(sp,so,ep,eo), st(st), et(et) {}

  virtual Object& clone() const
    { return *NewObj LineSegTrajectoryRep(sp, so, st, ep, eo, et); }

  virtual String className() const { return String("LineSegTrajectoryRep"); }


  /// get time at s:[0..1]
  virtual Time time(Real s) const
  {
    return st+(s*(et-st));
  }

  /// shift time by dt
  virtual void shiftTime(const Time& dt) 
  { st+=dt; et+=dt; }

  /// scale time by s
  virtual void scaleTime(Real s)
  { st*=s; et*=s; }

  /// get parameter s value at time t
  virtual Real gets(const Time& t) const
  {
    Time bt(t);
    Math::bound<Time>(bt,st,et);
    return (bt-st).seconds()/((et-st).seconds());
  }



  virtual void serialize(Serializer& s) 
  { 
    LineSegPathRep::serialize(s);
    s(st,"startTime");
    s(et,"endTime");
  }

protected:
  Time st; ///< start time
  Time et; ///< end time

};


} // base

#endif

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