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suTrackObjectSet.h

// suTrackObjectSet.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002, 2003 Frank C. Anderson
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@stanford.edu
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suTrackObjectSet_h__
#define __suTrackObjectSet_h__

// INCLUDES
#include "suTrackControllerDLL.h"
#include <rdTools.h>
#include <rdArray.h>
#include <rdObjectArray.h>
#include <rdModel.h>
#include "suTrackObject.h"


// EXPORT LINE FOR MICROSOFT VISUAL C++
#ifndef UNIX
template class SUTRACKCONTROLLER_API rdArray<double>;
#endif


//=============================================================================
//=============================================================================
class SUTRACKCONTROLLER_API suTrackObjectSet : public rdObjectArray 
{

//=============================================================================
// DATA
//=============================================================================
private:
   static rdObjectArray _ObjectTypes;
protected:
   rdObjectArray _defaultObjects;
   rdModel *_model;
   rdArray<double> _pErrLast;
   rdArray<double> _pErr;
   rdArray<double> _vErrLast;
   rdArray<double> _vErr;
   rdArray<double> _w;
   rdArray<double> _aDes;
   rdArray<double> _a;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   suTrackObjectSet();
   suTrackObjectSet(const char *aFileName);
   virtual ~suTrackObjectSet();
private:
   void setNull();
   void constructDefaultObjects();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   // TRACK OBJECTS
   suTrackObject* appendTrackObject(suTrackObject *aObject);
   suTrackObject* setTrackObject(int aIndex,suTrackObject *aObject);
   suTrackObject* getTrackObject(int aIndex) const;
   // MODEL
   void setModel(rdModel *aModel);
   rdModel* getModel() const;
   // FUNCTIONS
   void setFunctions(rdFunctionSet &aFuncSet);
   void setFunctionsForVelocity(rdFunctionSet &aFuncSet);
   void setFunctionsForAcceleration(rdFunctionSet &aFuncSet);
   // ERRORS
   rdArray<double>& getPositionErrorsLast();
   rdArray<double>& getPositionErrors();
   rdArray<double>& getVelocityErrorsLast();
   rdArray<double>& getVelocityErrors();
   // WEIGHTS
   rdArray<double>& getWeights();
   // DESIRED ACCELERATIONS
   rdArray<double>& getDesiredAccelerations();
   // ACCELERATIONS
   rdArray<double>& getAccelerations();

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   void recordErrorsAsLastErrors();
   void computeErrors(double aT);
   void computeDesiredAccelerations(double aT);
   void computeAccelerations();

   //--------------------------------------------------------------------------
   // REGISTER SUPPORTED TRACK OBJECTS
   //--------------------------------------------------------------------------
   static void RegisterType(const suTrackObject &aObject);

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   void updateObject(bool aDeep=true);
   void updateNode(bool aDeep=true);
   void generateNode(IDOM_Element *aParent);

//=============================================================================
}; // END of class suTrackObjectSet
//=============================================================================
//=============================================================================

#endif // __suTrackObjectSet_h__

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