Biomechanical Joint Model  Author: Anderson Maciel

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comedof.h

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/***************************************************************************
 *   Copyright (C) 2001 by Anderson Maciel                                 *
 *   andi.maciel@gmail.com                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program 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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 **************************************************************************/

//
//  PROJECT.....: 
//  RESPONSIBLE.: 
//
//  FILE........: COME_Dof.h
//  DESCRIPTION.: Contain the COME_Dof class declarations.
//
//  AUTHOR......: Anderson Maciel
//  DATE........: 23/February/2001
//  DESCRIPTION.: Class and new methods declaration.
//

#ifndef __COME_DOF_H
#define __COME_DOF_H

#ifndef __COME_JOINT_H
class COME_Joint;
#endif

#ifndef __COME_MODIFIER_H
class COME_Modifier;
#endif

#include        <algebra/comepoint3d.h>
#include        <algebra/comevector3d.h>
#include        <algebra/comematrix.h>
#include        <algebra/comebezier.h>
//#include      <string>
//using namespace std;


//-----------------------------------------------------------------------
// V P D O F
//-----------------------------------------------------------------------

// Class Name: COME_Dof
// Superclass: none
// Subclass: none


class COME_Dof {

        private:
                string          description;// Name of the Dof; often related to the dof's type of motion
                COME_Point3D position;          // Position of the dof related to the parent reference system
                COME_Vector3D axis;                     // Arbitrary axis of rotation
                COME_Bezier     *evoluta;               // 3D path related to the axis position along its rotation
                COME_Matrix     lim;                            // Local Instance Matrix
                COME_Matrix     bim;                            // Base 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           comfortMinAngle;                        // Min angle in rad for comfortable position.
                float           comfortMaxAngle;                        // Max angle in rad for comfortable position.
                COME_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
                COME_Joint      *ownerJoint;                    //Reference to the joint where this dof is set up
        
        protected:
                
        public:
                COME_Dof();
                COME_Dof( COME_Vector3D za, COME_Point3D pos, COME_Bezier *evol );
                COME_Dof( COME_Vector3D za, COME_Point3D pos, COME_Curve *evol,
                                                float min, float max, float cur, float rest );
                COME_Dof( COME_Vector3D za, COME_Point3D pos, COME_Bezier *evol,
                                                float min, float max, float cur, float rest, COME_Modifier *rm );
                //~COME_Dof();  
                void    setDescription( char* );
                void    setDescription( string );
                void    setComfortMin( float );
                void    setComfortMax( float );
                string                  getDescription();
                COME_Vector3D   getAxis( void );
                COME_Point3D            getOrigin( void );
                COME_Point3D            getPosition( void );
                COME_Curve                      getEvoluta( void );
                COME_Matrix             getLim( void );
                COME_Matrix             getBim( void );
                float                           getMin( void );
                float                           getMax( void );
                float                           getCurrentMin( void );
                float                           getCurrentMax( void );
                float                           getComfortMin( void );
                float                           getComfortMax( void );
                float                           getCurrent( void );
                float                           getRest( void );
                COME_Joint*             getOwnerJoint( void );
                void                            setEvoluta( COME_Bezier *evol );
                void                            setLim( COME_Matrix m );
                void                            setAxis( COME_Vector3D v );
                void                            setMin( float min );
                void                            setMax( float max );
                void                            setOwnerJoint( COME_Joint *ow );
                void                            vpMoveTo( float pos );
                void                            setRest( float rest );
                void                            vpRest( void );
                void                            setRangeModifier( COME_Modifier *m );
                COME_Modifier*  getRangeModifier( void );
                void                            vpPrintLim( void );
};

#endif

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