LinCurvPath.hpp

//
// Definition of iSeeML::rob::LinCurvPath, class of only ISeeML 
// elementary robotic paths.
//

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


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


class iSeeML::rob::LinCurvPath : public iSeeML::rob::BasicPath {
  // === Object's Fields ==========================================

  double Sharpness; 

  double Length;     

  double Deflection; 

  iSeeML::rob::CurvConfig Start;

  iSeeML::rob::CurvConfig End; 

public:
  static const string ClassName; 


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

  LinCurvPath() : Sharpness(0), Length(0), Deflection(0), 
    Start(), End() {} 

  LinCurvPath(const iSeeML::rob::CurvConfig& start, 
          const double& sharpness = 0, const double& length = 0) : 
    Sharpness(sharpness), Length(length), 
    Deflection(start.curvature() * length + 
           sharpness * sqr(length) / 2), 
    Start(start), End( operator[]( length ) ) {}

  // The default copy constructor is OK. 


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

  const iSeeML::rob::CurvConfig& start() const { return Start; }

  const iSeeML::rob::CurvConfig& end()   const { return End; }


  const double& sharpness()  const { return( Sharpness ); }

  // Description is given in PathISeeML.hh
  double length()     const { return( Length ); }

  // Description is given in PathISeeML.hh
  double deflection() const { return( Deflection ); }


  iSeeML::Object& clone() const 
  { return *( (iSeeML::Object*) (new LinCurvPath(*this)) ); } 


  void writeTo(ostream& O) const 
  { O << "[" << start() << "-{" << sharpness() << ", " 
      << length() << "}->" << end() << "]"; } 


public:
  // === Operators ================================================

  iSeeML::rob::CurvConfig operator[](const double& s) const; 


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

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

#endif  // end of definition