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base::PathRep Class Reference

Inheritance diagram for base::PathRep:

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Collaboration diagram for base::PathRep:

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List of all members.

Public Member Functions

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

virtual Orient orientation (Real s) const=0
 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)=0
 translate the path position by t

virtual void rotate (const Quat4 &r)=0
 rotate the path orientation by r

virtual void transform (const Matrix4 &m)=0
 transform the path by m

virtual void scalePosition (Real s)=0
 scale position coords. by s

virtual bool isSameKindAs (const ReferencedObject &) const
virtual bool isSameKindAs (const Object &) const
virtual String className () const=0
void reference () const
bool unreference () const
const int referenceCount () const
void enableOnUnreferenceCall (bool enabled)
virtual void onUnreference () const
virtual void serialize (Serializer &s)=0
 read or write object state to Serializer

virtual Objectclone () const=0

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 Attributes

int _refCount
bool onUnreferenceEnabled

Detailed Description

Abstract interface for concrete path representations used by class Path. (users should use class Path directly; implementors of new representations should implement this interface and add appropriate support in Path)

Definition at line 46 of file PathRep.


Member Function Documentation

virtual String base::Object::className  )  const [pure virtual, inherited]
 

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

Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

virtual Object& base::Cloneable::clone  )  const [pure virtual, inherited]
 

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

Implemented in base::LineSegPathRep, base::LineSegTrajectoryRep, base::ParametricPathRep, base::ParametricTrajectoryRep, base::PathComponent, base::PathName, base::WaypointPathRep, base::WaypointTrajectoryRep, gfx::TriangleIteratorState, gfx::VisualTriangles::TriangleArrayIteratorState, physics::ODECollidableBody::BodyState, and robot::sim::SimulatedBasicEnvironment.

virtual Real base::PathRep::distinguishedValue Int  i  )  const [inline, 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 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.

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]
 

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::PathRep::orientation Real  s  )  const [pure virtual]
 

get orientation at s:[0..1]

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

virtual Point3 base::PathRep::position Real  s  )  const [pure virtual]
 

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

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

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::PathRep::rotate const Quat4 r  )  [pure virtual]
 

rotate the path orientation by r

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

virtual void base::PathRep::scalePosition Real  s  )  [pure virtual]
 

scale position coords. by s

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

virtual void base::Serializable::serialize Serializer s  )  [pure virtual, inherited]
 

read or write object state to Serializer

Implemented in base::BinaryOpExpression, base::ConstantExpression, base::Expression, base::LineSegPathRep, base::LineSegTrajectoryRep, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::Trajectory, base::UnaryOpExpression, base::VariableExpression, base::WaypointPathRep, base::WaypointTrajectoryRep, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::Polyhedron, physics::Sphere, physics::Torus, robot::KinematicChain::Link, robot::KinematicChain, and robot::ManipulatorJointTrajectory.

virtual void base::PathRep::transform const Matrix4 m  )  [pure virtual]
 

transform the path by m

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

virtual void base::PathRep::translate const Vector3 t  )  [pure virtual]
 

translate the path position by t

Implemented in base::LineSegPathRep, base::ParametricPathRep, and base::WaypointPathRep.

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.


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().

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().


The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:38:57 2004 for OpenSim by doxygen 1.3.6