IvfPathController.h

//
// Copyright 1999-2006 by Structural Mechanics, Lund University.
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Library General Public License for more details.
//
// You should have received a copy of the GNU Library General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
// USA.
//
// Please report all bugs and problems to "ivf@byggmek.lth.se".
//

#ifndef _CIvfPathController_h_
#define _CIvfPathController_h_

#include <ivfctl/IvfController.h>
#include <ivfmath/IvfSpline3d.h>

IvfSmartPointer(CIvfPathController);

class IVFCTL_API CIvfPathController : public CIvfController {
public:
        enum TEndAction {
                EA_STOP,
                EA_REVERSE,
                EA_RESET,
                EA_DEACTIVATE
        };
        enum TStartAction {
                SA_STOP,
                SA_REVERSE,
                SA_RESET,
                SA_DEACTIVATE
        };
private:
        CIvfSpline3dPtr m_path;
        double m_v0;
        double m_a0;
        double m_t0;
        double m_t;
        double m_v;
        TEndAction m_endAction;
        TStartAction m_startAction;
public:
        CIvfPathController();

        virtual ~CIvfPathController();

        IvfClassInfo("CIvfPathController",CIvfController);

        void setPath(CIvfSpline3d* spline);

        CIvfSpline3d* getPath();
        
        void setInitialPos(double t);

        void setInitialSpeed(double v);

        void setInitialAcceleration(double a);

        void setStartActionType(TStartAction action);

        void setEndActionType(TEndAction action);

        virtual void doUpdate(double dt);
        virtual void doReset();
};

#endif

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