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base::ParametricPathRep Class Reference

Concrete path representation as a set of symbolic parametric equations (functions of s). More...

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List of all members.

Public Member Functions

 ParametricPathRep (const ExpressionVector &p)
virtual Objectclone () const
virtual String className () const
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 Real distinguishedValue (Int i) const
virtual Int numDistinguishedValues () const
 number of distinguished s values

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 void serialize (Serializer &s)
 read or write object state to Serializer

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, HasOrient = 1 }

Protected Member Functions

 ParametricPathRep ()

Protected Attributes

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
int _refCount
bool onUnreferenceEnabled

Friends

class Trajectory
class Serializable::SerializableDerivedInstantiator< ParametricPathRep >

Detailed Description

Concrete path representation as a set of symbolic parametric equations (functions of s).

Definition at line 37 of file ParametricPathRep.


Member Enumeration Documentation

enum base::ParametricPathRep::Flags [protected]
 

Enumeration values:
None 
HasOrient 

Definition at line 72 of file ParametricPathRep.


Constructor & Destructor Documentation

base::ParametricPathRep::ParametricPathRep const ExpressionVector p  ) 
 

base::ParametricPathRep::ParametricPathRep  )  [inline, protected]
 

Definition at line 74 of file ParametricPathRep.

Referenced by clone().


Member Function Documentation

virtual String base::ParametricPathRep::className  )  const [inline, virtual]
 

return the name of the object's class type. Must be defined by derived classes.

Implements base::Object.

Reimplemented in base::ParametricTrajectoryRep.

Definition at line 45 of file ParametricPathRep.

References base::String.

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

return a shallow copy, with Object& return type. Must be defined by derived classes.

Implements base::Cloneable.

Reimplemented in base::ParametricTrajectoryRep.

Definition at line 42 of file ParametricPathRep.

References NewObj, and ParametricPathRep().

virtual Real base::ParametricPathRep::distinguishedValue Int  i  )  const [virtual]
 

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 from base::PathRep.

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.

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::ParametricPathRep::numDistinguishedValues  )  const [virtual]
 

number of distinguished s values

Reimplemented from base::PathRep.

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::ParametricPathRep::orientation Real  s  )  const [virtual]
 

get orientation at s:[0..1]

Implements base::PathRep.

virtual Point3 base::ParametricPathRep::position Real  s  )  const [virtual]
 

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

Implements base::PathRep.

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::ParametricPathRep::rotate const Quat4 r  )  [virtual]
 

rotate the path orientation by r

Implements base::PathRep.

virtual void base::ParametricPathRep::scalePosition Real  s  )  [virtual]
 

scale position coords. by s

Implements base::PathRep.

virtual void base::ParametricPathRep::serialize Serializer s  )  [virtual]
 

read or write object state to Serializer

Implements base::Serializable.

Reimplemented in base::ParametricTrajectoryRep.

virtual void base::ParametricPathRep::transform const Matrix4 m  )  [virtual]
 

transform the path by m

Implements base::PathRep.

virtual void base::ParametricPathRep::translate const Vector3 t  )  [virtual]
 

translate the path position by t

Implements base::PathRep.

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.


Friends And Related Function Documentation

friend class Serializable::SerializableDerivedInstantiator< ParametricPathRep > [friend]
 

Definition at line 81 of file ParametricPathRep.

friend class Trajectory [friend]
 

Reimplemented in base::ParametricTrajectoryRep.

Definition at line 80 of file ParametricPathRep.


Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]
 

Definition at line 136 of file Referenced.

Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

Int base::ParametricPathRep::flags [protected]
 

Definition at line 78 of file ParametricPathRep.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]
 

Definition at line 137 of file Referenced.

Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

ExpressionVector base::ParametricPathRep::v [protected]
 

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

Definition at line 76 of file ParametricPathRep.


The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:38:53 2004 for OpenSim by doxygen 1.3.6