base/WaypointPathRep

Go to the documentation of this file.

/****************************************************************************
  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: WaypointPathRep 1029 2004-02-11 20:45:54Z jungd $
  $Revision: 1.4 $
  $Date: 2004-02-11 15:45:54 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _BASE_WAYPOINTPATHREP_
#define _BASE_WAYPOINTPATHREP_

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


namespace base {


/// Concrete path representation as a sequence of 'waypoints' (including orientation)
class WaypointPathRep : public PathRep
{
public:
  WaypointPathRep(const array<Point3>& points, const array<Orient>& orients)
    : points(points), orients(orients), flags(None)
  { computeSis(); }


  virtual Object& clone() const
    { return *NewObj WaypointPathRep(points, orients, si, flags); }

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

  /// 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, ConstPos=1, ConstOrient=2 };

  WaypointPathRep() {}
  WaypointPathRep(const array<Point3>& points, const array<Orient>& orients, array<Real> si, Int flags)
    : points(points), orients(orients), si(si), flags(flags) {}

  array<Point3> points;
  array<Orient> orients;
  array<Real> si;  ///< value of s:[0..1] corresponding to each waypoint.
  
  ///  compute si's using path length from start of path to waypoint i w.r.t. total path length
  /// (NB: for a path that has both constant position & orientation, si is unused/meaningless)
  virtual void computeSis();

  Int  findIndex(Real s) const; ///< find the closest index into points/orients before s

  Int flags;

  friend class Serializable::SerializableDerivedInstantiator<WaypointPathRep>;
};


} // base

#endif

---