Path.hpp

//
// Definition of iSeeML::rob::Path, superclass of every other ISeeML 
// robotic paths' class.
//

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


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


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

  static const string ClassName; 

public:
  // === Constructors and Destructors =============================

  // None (destructor is already virtual, due to Object).


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

  virtual const iSeeML::rob::OrPtConfig& start() const = 0;

  virtual const iSeeML::rob::OrPtConfig& end()   const = 0;


  virtual double length()       const = 0;

  virtual double deflection()   const = 0;


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

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

  bool operator<(const Path& other) const 
    // Cf. previous comment
  { return( ( isPositive( length() ) && ( length() < other.length() ) ) 
        || (! isPositive( other.length() ) ) ); }


  virtual iSeeML::rob::CurvConfig operator[](const double& s) const = 0; 

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

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

#endif  // end of definition