base::LineSegTrajectoryRep Class Reference

Concrete trajectory representation as a line segment. More...

Inheritance diagram for base::LineSegTrajectoryRep:

[legend]Collaboration diagram for base::LineSegTrajectoryRep:

[legend]List of all members.


Public Member Functions
	LineSegTrajectoryRep ()
	LineSegTrajectoryRep (const Point3 &sp, const Orient &so, Time st, const Point3 &ep, const Orient &eo, Time et)
virtual Object &	clone () const
virtual String	className () const
virtual Time	time (Real s) const
	get time at s:[0..1]
virtual void	shiftTime (const Time &dt)
	shift time by dt
virtual void	scaleTime (Real s)
	scale time by s
virtual Real	gets (const Time &t) const
	get parameter s value at time t
virtual void	serialize (Serializer &s)
	read or write object state to Serializer
virtual Point3	position (Real s) const
	get cartesian position at s:[0..1]
virtual Orient	orientation (Real s) const
	get orientation at s:[0..1]
virtual void	translate (const Vector3 &t)
	translate the path position by t
virtual void	rotate (const Quat4 &r)
	rotate the path orientation by r
virtual void	transform (const Matrix4 &m)
	transform the path by m
virtual void	scalePosition (Real s)
	scale position coords. by s
virtual Real	distinguishedValue (Int i) const
virtual Int	numDistinguishedValues () const
	number of distinguished s values
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Static Public Member Functions
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Protected Types
enum	Flags { None = 0, ConstPos = 1, ConstOrient = 2 }
Protected Attributes
Time	st
	start time
Time	et
	end time
Point3	sp
	start pos
Orient	so
	start orient
Point3	ep
	end pos
Orient	eo
	end orient
Int	flags
int	_refCount
bool	onUnreferenceEnabled

Detailed Description

Concrete trajectory representation as a line segment.

Definition at line 37 of file LineSegTrajectoryRep.

Member Enumeration Documentation

enum base::LineSegPathRep::Flags [protected, inherited]

Enumeration values:

None

ConstPos

ConstOrient

Definition at line 132 of file LineSegPathRep.

Constructor & Destructor Documentation

base::LineSegTrajectoryRep::LineSegTrajectoryRep ( ) [inline]

Definition at line 40 of file LineSegTrajectoryRep.
References et, and st.
Referenced by clone().

base::LineSegTrajectoryRep::LineSegTrajectoryRep ( const Point3 & sp,

const Orient & so,

Time st,

const Point3 & ep,

const Orient & eo,

Time et

) [inline]

Definition at line 42 of file LineSegTrajectoryRep.
References base::Point3.

Member Function Documentation

virtual String base::LineSegTrajectoryRep::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Reimplemented from base::LineSegPathRep.
Definition at line 49 of file LineSegTrajectoryRep.
References base::String.

virtual Object& base::LineSegTrajectoryRep::clone ( ) const [inline, virtual]

return a shallow copy, with Object& return type. Must be defined by derived classes.
Reimplemented from base::LineSegPathRep.
Definition at line 46 of file LineSegTrajectoryRep.
References et, LineSegTrajectoryRep(), NewObj, and st.

virtual Real base::PathRep::distinguishedValue ( Int i ) const [inline, virtual, inherited]

some values of s may correspond to distinguished points along a path. the values s=0 and s=1 are always distinguished values. For example, if the path was specified using waypoints, then there will be a distinguished value of s for each waypoint. 0 <= i < numDistinguishedValues()
Reimplemented in base::ParametricPathRep, and base::WaypointPathRep.
Definition at line 60 of file PathRep.
References base::Int, and base::Real.

void base::Referenced::enableOnUnreferenceCall ( bool enabled ) [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 115 of file Referenced.
References base::Referenced::onUnreferenceEnabled.

virtual Real base::LineSegTrajectoryRep::gets ( const Time & t ) const [inline, virtual]

get parameter s value at time t

Implements base::TrajectoryTimeRep.
Definition at line 67 of file LineSegTrajectoryRep.
References et, base::Real, and st.

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName

) [static, inherited]

template<class BaseClass>

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & derivedClassTypeName ) [inline, static, inherited]

Definition at line 71 of file Serializable.
References base::String.

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs ( const ReferencedObject & ) const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual Int base::PathRep::numDistinguishedValues ( ) const [inline, virtual, inherited]

number of distinguished s values

Reimplemented in base::ParametricPathRep, and base::WaypointPathRep.
Definition at line 64 of file PathRep.
References base::Int.

virtual void base::Referenced::onUnreference ( ) const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references
Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.
Definition at line 121 of file Referenced.
Referenced by base::Referenced::unreference().

virtual Orient base::LineSegPathRep::orientation ( Real s ) const [inline, virtual, inherited]

get orientation at s:[0..1]

Implements base::PathRep.
Definition at line 65 of file LineSegPathRep.
References base::LineSegPathRep::ConstOrient, base::LineSegPathRep::eo, base::LineSegPathRep::flags, base::Real, and base::LineSegPathRep::so.

virtual Point3 base::LineSegPathRep::position ( Real s ) const [inline, virtual, inherited]

get cartesian position at s:[0..1]

Implements base::PathRep.
Definition at line 54 of file LineSegPathRep.
References base::LineSegPathRep::ConstPos, base::LineSegPathRep::ep, base::LineSegPathRep::flags, base::Point3, base::Real, and base::LineSegPathRep::sp.

void base::Referenced::reference ( ) const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it.
Definition at line 65 of file Referenced.
References base::Referenced::_refCount.

const int base::Referenced::referenceCount ( ) const [inline, inherited]

Return the number pointers currently referencing this object.
Definition at line 112 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void base::Serializable::registerSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName,

const SerializableInstantiator & instantiator

) [static, inherited]

template<class BaseClass, class DerivedClass>

void base::Serializable::registerSerializableInstantiator ( const SerializableInstantiator & instantiator ) [inline, static, inherited]

Definition at line 62 of file Serializable.

virtual void base::LineSegPathRep::rotate ( const Quat4 & r ) [inline, virtual, inherited]

rotate the path orientation by r

Implements base::PathRep.
Definition at line 79 of file LineSegPathRep.
References base::LineSegPathRep::eo, base::LineSegPathRep::ep, base::Orient::getQuat4(), base::Quat4::rotatePoint(), base::LineSegPathRep::so, and base::LineSegPathRep::sp.

virtual void base::LineSegPathRep::scalePosition ( Real s ) [inline, virtual, inherited]

scale position coords. by s

Implements base::PathRep.
Definition at line 110 of file LineSegPathRep.
References base::LineSegPathRep::ep, base::Real, and base::LineSegPathRep::sp.

virtual void base::LineSegTrajectoryRep::scaleTime ( Real s ) [inline, virtual]

scale time by s

Implements base::TrajectoryTimeRep.
Definition at line 63 of file LineSegTrajectoryRep.
References et, base::Real, and st.

virtual void base::LineSegTrajectoryRep::serialize ( Serializer & s ) [inline, virtual]

read or write object state to Serializer

Reimplemented from base::LineSegPathRep.
Definition at line 76 of file LineSegTrajectoryRep.
References et, and st.

virtual void base::LineSegTrajectoryRep::shiftTime ( const Time & dt ) [inline, virtual]

shift time by dt

Implements base::TrajectoryTimeRep.
Definition at line 59 of file LineSegTrajectoryRep.
References et, and st.

virtual Time base::LineSegTrajectoryRep::time ( Real s ) const [inline, virtual]

get time at s:[0..1]

Implements base::TrajectoryTimeRep.
Definition at line 53 of file LineSegTrajectoryRep.
References et, base::Real, and st.

virtual void base::LineSegPathRep::transform ( const Matrix4 & m ) [inline, virtual, inherited]

transform the path by m

Implements base::PathRep.
Definition at line 91 of file LineSegPathRep.
References base::LineSegPathRep::eo, base::LineSegPathRep::ep, base::Orient::getQuat4(), base::Point3, base::Point4, base::Quat4::setRotation(), base::LineSegPathRep::so, and base::LineSegPathRep::sp.

virtual void base::LineSegPathRep::translate ( const Vector3 & t ) [inline, virtual, inherited]

translate the path position by t

Implements base::PathRep.
Definition at line 75 of file LineSegPathRep.
References base::LineSegPathRep::ep, and base::LineSegPathRep::sp.

bool base::Referenced::unreference ( ) const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.
Definition at line 81 of file Referenced.
References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.