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