This class defines compound (or complex, or composed) paths, which are made of a set of basic paths. More...

#include <CompoundPath.hpp>

Inheritance diagram for iSeeML::rob::CompoundPath:

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Collaboration diagram for iSeeML::rob::CompoundPath:

Public Member Functions
void	writeTo (ostream &O) const
	Description method, writing a description of the path in a given output stream (the array of pieces is written). More...

const iSeeML::rob::OrPtConfig &	start () const
	Description method, giving the path's starting configuration (first piece's starting configuration). More...

const iSeeML::rob::OrPtConfig &	end () const
	Description method, giving the path's final configuration (last piece's starting configuration). More...

const iSeeML::rob::BasicPath &	piece (const int index) const
	Description method, returning the (constant) basic path of given index in the list of which this compound path is made. More...

double	length () const
	Description method, giving the path's length (sum of the pieces' length). More...

double	deflection () const
	Description method, giving the path's deflection (sum of the pieces' deflection). More...

virtual int	nbPieces () const =0
	Description method, giving the number of pieces of the path. More...

iSeeML::rob::BasicPath &	piece (const int index)
	Modification method, returning (for modification) the basic path of given index in the list of which this compound path is made. More...

iSeeML::rob::CurvConfig	operator[] (const double &s) const
	Description method, giving a configuration at a given arc length along the path. More...

Public Member Functions inherited from iSeeML::rob::Path
bool	operator< (const Path &other) const
	Order operator, defining an order relation on the paths' set, based on the path's length. More...

Public Member Functions inherited from iSeeML::Object
virtual	~Object ()
	This virtual class needs a virtual destructor.

virtual const string	className () const
	Description method, giving the object's class name. More...

virtual iSeeML::Object &	clone () const =0
	Description method, giving a copy of the current object. More...

bool	sameClass (const iSeeML::Object &other)
	Method verifying that a given object has the same type (same class name) than the current one. More...

Protected Member Functions
iSeeML::rob::BasicPath &	getPiece (const int index) const
	Method returning the basic path of given index in the list of which this compound path is made. More...

virtual iSeeML::rob::BasicPath &	_piece (const int index) const =0
	Virtual method returning the basic path of given index in the list of which this compound path is made (no verification). More...

Protected Member Functions inherited from iSeeML::Object
virtual int	algDimension () const
	Description method for algebraic vectors, giving the dimension of the containing space (default is zero). More...

virtual double	algCoord (const int) const
	Description method for algebraic vectors, giving coordinate of given index for this vector. More...

virtual void	algWriteTo (ostream &O) const
	Description method for algebraic vectors, writing this vector in a given output stream: coordinates for each dimension are written, between paranthesis and separated by commas. More...

Additional Inherited Members
Static Public Member Functions inherited from iSeeML::Object
template<class T >
static const T &	min (const T &a, const T &b)
	Method giving the minimum of two elements. More...

template<class T >
static const T &	max (const T &a, const T &b)
	Method giving the maximum of two elements. More...

static double	sqr (const double &x)
	Method giving the square of a double. More...

static double	mod2pi (const double &theta)
	Method giving the angle between - $\pi$ (excluded) and $\pi$ (included), which is equal to a given angle modulo 2 $\pi$ . More...

static double	rad2deg (const double &theta)
	Method transforming an angle in radian, $x \pi$ with between -1 (excluded) and 1 (included), into its equivalent in degree, i.e. More...

static double	deg2rad (const double &theta)
	Method transforming an angle in degree, with between -1 (excluded) and 1 (included), into its equivalent in radian, i.e. More...

static bool	isPositive (const double &x)
	Method telling whether a double is strictly positive. More...

static bool	isNegative (const double &x)
	Method telling whether a double is strictly negative. More...

static bool	isZero (const double &x)
	Method comparing a double to zero. More...

static int	sign (const double &x)
	Method giving the sign of a double. More...

Related Functions inherited from iSeeML::Object
ostream &	operator<< (ostream &O, const iSeeML::Object &o)
	Modification method, writing a description of a ISeeML object in a given output stream. More...

Detailed Description

This class defines compound (or complex, or composed) paths, which are made of a set of basic paths.

Nearly all virtual methods of iSeeML::rob::Path are defined in this class (except className and clone), sub-classes ``just'' have to define this one and constructors (this is not so easy, as it generally requires a planning method).

Author: Alexis Scheuer.

Version: 1.0

Member Function Documentation

virtual iSeeML::rob::BasicPath& iSeeML::rob::CompoundPath::_piece ( const int index ) const

protectedpure virtual

Virtual method returning the basic path of given index in the list of which this compound path is made (no verification).

Parameters

index the index of the desired piece (between 1 and the result of nbPieces).

Returns: the basic path whose index has been given.

See also: nbPieces, piece, getPiece.

Implemented in iSeeML::rob::DubinsLikePath, and iSeeML::rob::ArrayPaths.

double iSeeML::rob::CompoundPath::deflection ( ) const

inlinevirtual

Description method, giving the path's deflection (sum of the pieces' deflection).

Returns: the path's deflection.

See also: piece, BasicPath::deflection.

Implements iSeeML::rob::Path.

const iSeeML::rob::OrPtConfig& iSeeML::rob::CompoundPath::end ( ) const

inlinevirtual

Description method, giving the path's final configuration (last piece's starting configuration).

Returns: the path's final configuration.

See also: piece, BasicPath::end.

Implements iSeeML::rob::Path.

Examples:: wxGuiFwd.cpp.

iSeeML::rob::BasicPath& iSeeML::rob::CompoundPath::getPiece ( const int index ) const

inlineprotected

Method returning the basic path of given index in the list of which this compound path is made.

Parameters

index the index of the desired piece (between 1 and the result of nbPieces).

Precondition: parameter is an index, and should be in the correct interval. An error message is generated if this index is not correct and ISEEML_CHECK_COMP_PATH_PRECOND is defined, and index is corrected (to one if smaller, to nbPieces if bigger) if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

Returns: the basic path whose index has been given.

See also: nbPieces, piece, _piece.

double iSeeML::rob::CompoundPath::length ( ) const

inlinevirtual

Description method, giving the path's length (sum of the pieces' length).

Returns: the path's length.

See also: piece, BasicPath::length.

Implements iSeeML::rob::Path.

Examples:: LengthFwd.cpp.

virtual int iSeeML::rob::CompoundPath::nbPieces ( ) const

pure virtual

Description method, giving the number of pieces of the path.

Returns: the number of pieces of the path.

Version: 1.1

Implemented in iSeeML::rob::DubinsLikePath, and iSeeML::rob::ArrayPaths.

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

inlinevirtual

Description method, giving a configuration at a given arc length along the path.

Parameters

s	the arc length.

Precondition: the given arc length should be positive and less than the path's length. If this is not true, an error message is generated if ISEEML_CHECK_COMP_PATH_PRECOND is defined, and the arc length is considered as zero if smaller and as path's length if bigger, if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

Returns: the configuration at given arc length along the path.

See also: nbPieces, length, piece, BasicPath::operator[].

Implements iSeeML::rob::Path.

const iSeeML::rob::BasicPath& iSeeML::rob::CompoundPath::piece ( const int index ) const

inline

Description method, returning the (constant) basic path of given index in the list of which this compound path is made.

This method, as well as the other piece method, calls a protected one (getPiece).

Parameters

index the index of the desired piece (between 1 and the result of nbPieces).

Precondition: parameter is an index, and should be in the correct interval. An error message is generated if this index is not correct and ISEEML_CHECK_COMP_PATH_PRECOND is defined, and index is corrected (to one if smaller, to nbPieces if bigger) if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

Returns: the piece of the path whose index has been given.

See also: nbPieces.

iSeeML::rob::BasicPath& iSeeML::rob::CompoundPath::piece ( const int index )

inline

Modification method, returning (for modification) the basic path of given index in the list of which this compound path is made.

Parameters

index the index of the basic path to change (between 1 and the result of nbPieces).

Precondition: parameter is an index, and should be in the correct interval. An error message is generated if this index is not correct and ISEEML_CHECK_COMP_PATH_PRECOND is defined, and index is corrected (to one if smaller, to nbPieces if bigger) if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

See also: nbPieces.

const iSeeML::rob::OrPtConfig& iSeeML::rob::CompoundPath::start ( ) const

inlinevirtual

Description method, giving the path's starting configuration (first piece's starting configuration).

Returns: the path's starting configuration.

See also: piece, BasicPath::start.

Implements iSeeML::rob::Path.

Examples:: wxGuiFwd.cpp.

void iSeeML::rob::CompoundPath::writeTo ( ostream & O ) const

inlinevirtual

Description method, writing a description of the path in a given output stream (the array of pieces is written).

The array of basic paths is written between accolades ('{' and '}'), paths being separated by commas.

Parameters

O	the output stream in which description is written.

See also: nbPieces, piece.

Implements iSeeML::Object.

Reimplemented in iSeeML::rob::FscPath, and iSeeML::rob::DubinsPath.

The documentation for this class was generated from the following file:

/home/ajs/Loria/Local/Compte/Recherche/Prog/C++/ISeeML/include/iSeeML/rob/CompoundPath.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation