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rdKinematics.h

// rdKinematics.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2000 Realistic Dynamics, Inc.
// All rights reserved.
//
// CONFIDENTIAL
//
// The material contain within this file is the sole property of
// Realistic Dynamics, Inc., and may not be read, copied, or distributed
// without the expressed writen consent of Realistic Dynamics, Inc.
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdKinematics_h__
#define __rdKinematics_h__


// INCLUDES
#include <rdSpline.h>
#include "rdDynamicFilterDLL.h"


//=============================================================================
//=============================================================================
class RDDYNAMICFILTER_API rdKinematics
{
//=============================================================================
// DATA
//=============================================================================
private:
   int _status;
   char *_name;
   int _n;
   rdSpline **_spPos;
   rdSpline **_spVel;
   rdSpline **_spAcc;

//=============================================================================
// METHODS
//=============================================================================
public:
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
   virtual ~rdKinematics();
   rdKinematics(const char *aSuiteName,int aNStates);
   int initialize(const char *aSuiteName,int aNStates);

   //--------------------------------------------------------------------------
   // SET AND GET
   //--------------------------------------------------------------------------
   int getNY();

   //--------------------------------------------------------------------------
   // EVALUATE
   //--------------------------------------------------------------------------
   double pos(int aState,double aTime);
   double vel(int aState,double aTime);
   double acc(int aState,double aTime);

   //--------------------------------------------------------------------------
   // UTILITY
   //--------------------------------------------------------------------------
   char isStateIndexValid(int aState);

//=============================================================================
}; // END class rdKinematics
//=============================================================================
//=============================================================================

#endif // __rdKinematics_h__

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