dof.h

Go to the documentation of this file.

#ifndef VART_DOF_H
#define VART_DOF_H

#include "vart/point4d.h"
#include "vart/transform.h"
#include "vart/bezier.h"
#include "vart/memoryobj.h"
#include <string>
#include <list>
#include <iostream> // for XmlPrintOn

namespace VART {
    class Modifier;
    class Joint;
    class Dof : public MemoryObj {
        public:
        // PUBLIC METHODS
            Dof();
            Dof(const Dof& dof);
            Dof(const Point4D& vec, const Point4D& pos, float min, float max);
            ~Dof();
            Dof& operator=(const Dof& dof);
            void SetDescription(const std::string& desc);
            const std::string& GetDescription() const { return description; }
            Point4D GetAxis() const;
            Point4D GetOrigin() const;
            Point4D GetPosition() const { return position; }
            Bezier* GetEvoluta() { return evoluta; }
            void GetLim(Transform* resultPtr);
            const Transform& GetLim() const;
            float GetMin() const;
            float GetMax() const;
            float GetCurrentMin() const;
            float GetCurrentMax() const;
            float GetRest() const;
            Joint* GetOwnerJoint() const;
            void SetEvoluta( Bezier *evol );
            void SetLim(const Transform& t);
            void SetAxis(Point4D vec);
            void SetMin(float min);
            void SetMax(float max);
            void SetOwnerJoint( Joint *ow );
            void MoveTo(float pos);
            void MoveTo(float pos, unsigned int newPriority);

            float GetCurrent() const;

            void Move(float variance) { MoveTo(currentPosition+variance); }

            void SetRest( float rest );

            void Set(const Point4D& vec, const Point4D& pos, float min, float max);

            void Rest();
            void SetRangeModifier( Modifier *m );
            Modifier* GetRangeModifier();

            void ApplyTransformTo(Transform* ptrTrans) const;

            void XmlPrintOn(std::ostream& os, unsigned int indent) const;

            void Reconfigure(const Point4D& state, const Point4D& target);
    #ifdef VISUAL_JOINTS
            bool DrawInstanceOGL() const;
        // PUBLIC STATIC ATTRIBUTES
            static float axisSize;
    #endif
        // PUBLIC STATIC METHODS
            static void ClearPriorities();
        // PUBLIC ATTRIBUTES

        protected:
        // PROTECTED METHODS
            void ComputeLIM();
        // PROTECTED ATTRIBUTES
            Point4D position;
            Point4D axis;
            unsigned int priority;
        private:
        // PRIVATE ATTRIBUTES
            std::string description;// Name of the Dof; often related to the dof's type of motion
            Bezier* evoluta; // 3D path related to the axis position along its rotation
            Transform lim; // Local Instance Matrix
            float minAngle;           // Min base angle in rad.
            float maxAngle;           // Max base angle in rad.
            float currentMinAngle;            // Min angle in rad currently valid.
            float currentMaxAngle;            // Max angle in rad currently valid.
            float confortMinAngle;            // Min angle in rad for comfortable position.
            float confortMaxAngle;            // Max angle in rad for comfortable position.
            Modifier* rangeModifier; // Entity used to change the motion range along motion.
            float currentPosition; //A real number from 0 to 1
            float restPosition;           //Another real number from 0 to 1
            Joint* ownerJoint;            //Reference to the joint where this dof is set up
        // PRIVATE STATIC ATTRIBUTES
            // List of all instances of the class
            static std::list<Dof*> instanceList;
    }; // end class declaration
} // end namespace
#endif