CurvConfig.hpp

//
// Definition of iSeeML::rob::CurvConfig, class of ISeeML robotic 
// configurations with curvature.
//

// To only include this definition once
#ifndef ISEEML_ROB_CURV_CONFIG_HH
#define ISEEML_ROB_CURV_CONFIG_HH


// This class needs the definition of iSeeML::rob::OrPtConfig. 
#include <iSeeML/rob/OrPtConfig.hpp>


class iSeeML::rob::CurvConfig : public iSeeML::rob::OrPtConfig {
  // === Object's Fields ==========================================

  double Curvature;  

public:
  static const string ClassName; 


  // === Constructors and Destructors =============================

  CurvConfig() : OrPtConfig(), Curvature(0) {} 

  CurvConfig(const iSeeML::rob::OrPtConfig& OrPt, const double& kappa) : 
    OrPtConfig(OrPt), Curvature(kappa) {}

  CurvConfig(const iSeeML::geom::Point& P, const double& theta, 
         const double& kappa) : 
    OrPtConfig(P, theta), Curvature(kappa) {}

  CurvConfig(const double& x, const double& y, 
         const double& theta, const double& kappa) : 
    OrPtConfig(x, y, theta), Curvature(kappa) {}

  // The default copy constructor is OK. 


  // === Description Methods ======================================

  // cf. OrPtConfig
  iSeeML::Object& clone() const 
  { return *( (iSeeML::Object*) (new CurvConfig(*this)) ); } 


  // Description is given in OrPtConfigISeeML.hh. 
  void writeTo(ostream& O) const { algWriteTo(O); } 


  const double& curvature() const  { return Curvature; } 


protected:
  int algDimension() const { return 4; } 

  double algCoord(const int i) const { 
    if (i == 4) return curvature(); 
#ifdef ISEEML_CHECK_CURV_CONFIG_PRECOND
    else if ((i < 1) || (i > 3)) {
      cerr << ClassName << "::coord: parameter " << i << endl
       << " outside allowed values (1 to 4)," 
       << " returning zero..." << endl;
      return 0; }
#endif
    else return OrPtConfig::algCoord(i); } 


  // === Modification Methods =====================================

  // === Operators ================================================

  // === Various Methods ==========================================

}; // end of class iSeeML::rob::CurvConfig

#endif  // end of definition