base/ParametricPathRep

Go to the documentation of this file.

/****************************************************************************
  Copyright (C)2003 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: ParametricPathRep 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_PARAMETRICPATHREP_
#define _BASE_PARAMETRICPATHREP_

#include <base/PathRep>
#include <base/Expression>
#include <base/Math>


namespace base {


/// Concrete path representation as a set of symbolic parametric equations (functions of s)
class ParametricPathRep : public PathRep
{
public:
  ParametricPathRep(const ExpressionVector& p);

  virtual Object& clone() const
    { return *NewObj ParametricPathRep(v); }

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

  /// get cartesian position at s:[0..1]
  virtual Point3 position(Real s) const;

  /// get orientation at s:[0..1]
  virtual Orient orientation(Real s) const;

  virtual Real distinguishedValue(Int i) const;

  /// number of distinguished s values
  virtual Int numDistinguishedValues() const;

  /// translate the path position by t
  virtual void translate(const Vector3& t);

  /// rotate the path orientation by r
  virtual void rotate(const Quat4& r);

  /// transform the path by m
  virtual void transform(const Matrix4& m);

  virtual void scalePosition(Real s);

  virtual void serialize(Serializer& s);

protected:
  enum Flags { None=0, HasOrient=1 };

  ParametricPathRep() {}

  ExpressionVector v; ///< parametric rep of path (symbolic expressions for x,y,z[,r,p,y | ,q0,q1,q2,w]) in terms of s in [0..1]
  
  Int flags;

  friend class Trajectory;
  friend class Serializable::SerializableDerivedInstantiator<ParametricPathRep>;
};


} // base

#endif

---