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OSCAR::CoordinateSpace Class Reference
[Math]

Specifies the properties of a coordinate space. More...

#include <CoordinateSpace.h>

Inheritance diagram for OSCAR::CoordinateSpace:

[legend]List of all members.

Public Methods
	CoordinateSpace (unsigned int spaceDim, OSCARError &err=DUMMY_ERROR(noError))
	CoordinateSpace (const CoordinateStatusArray &coordinateStatus)
	CoordinateSpace (const CoordinateSpace &rhs)
virtual	~CoordinateSpace ()
CoordinateSpace &	operator= (const CoordinateSpace &rhs)
unsigned int	GetActiveDimensionSize () const
unsigned int	GetDimensionSize () const
bool	SetCoordinateStatus (unsigned int coordNo, CoordinateStatus status)
bool	SetCoordinateStatus (const CoordinateStatusArray &statusArray)
void	SetAllCoordinateStatus (const CoordinateStatus &status)
bool	GetCoordinateStatus (unsigned int coordNo, CoordinateStatus &status)
CoordinateStatus	GetCoordinateStatus (unsigned int coordNo) const
bool	GetCoordinateStatus (CoordinateStatusArray &statusArray)
const CoordinateStatusArray &	GetCoordinateStatus () const
bool	Grow (unsigned int growth)
Protected Methods
void	updateActiveDimSize ()
Protected Attributes
CoordinateStatusArray *	coordinateStatus
unsigned int	activeSpaceDim

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Detailed Description

Author:

Chetan Kapoor

Specifies the properties of a coordinate space, such as DOF, ActiveDOF, status of a DOF, etc. Use this class as a base class for any other class that represents a coordinate space. Examples of coordinate spaces are joint space, effector space, task space, etc. This class only works for an 'n' dimensional space.

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Constructor & Destructor Documentation

OSCAR::CoordinateSpace::CoordinateSpace (  unsigned int    spaceDim, OSCARError &    err = DUMMY_ERROR(noError) )

Constructor. Constructs an CoordinateSpace of size 'spaceDim' with Active coordinates. being Active. Parameters: spaceDim  Defines the size of the space. An error is set if spaceDim==0. Call GetError() for more information. err  A reference to an object of type OSCARError Exceptions: invalidArraySize  invalidArraySize

OSCAR::CoordinateSpace::CoordinateSpace (  const CoordinateStatusArray &    coordinateStatus )

Constructor. Constructs CoordinateSpace the same size as the RRCoordinateStatusArray with coordinate statuses initialized by the RRCoordinateStatusArray. Parameters: coordinateStatus  An array of CoordinateSpace's.

OSCAR::CoordinateSpace::CoordinateSpace (  const CoordinateSpace &    rhs )

Copy Constructor. Constructs an CoordinateSpace object from an existing CoordinateSpace object. Parameters: rhs  An CoordinateSpace object that will be used to initialize this new object.

virtual OSCAR::CoordinateSpace::~CoordinateSpace (    )  [virtual]

Virtual Destructor. This is the Destructor for an object of type CoordinateSpace.

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Member Function Documentation

unsigned int OSCAR::CoordinateSpace::GetActiveDimensionSize (    )  const

Get the number of active dimensions. Return the number of the coordinates that are set to Active. Returns: The size of the active dimension space.

const CoordinateStatusArray& OSCAR::CoordinateSpace::GetCoordinateStatus (    )  const

Get the RRCoordinateStatusArray of a coordinate space. Returns a const reference to the RRCoordinateStatusArray for this CoordinateSpace Returns: A constant reference to the RRCoordinateStatusArray for this CoordinateSpace.

bool OSCAR::CoordinateSpace::GetCoordinateStatus (  CoordinateStatusArray &    statusArray )

Get the RRCoordinateStatusArray of a coordinate space. Copy the Active/Inactive status of each coordinate into argument which must be of size GetDimensionSize() or an error will be set. Parameters: statusArray  RRCoordinateStatusArray to copy into. Returns: True if no errors. False if error. Call GetError() for more information. Exceptions: arraySizeMismatch  arraySizeMismatch

CoordinateStatus OSCAR::CoordinateSpace::GetCoordinateStatus (  unsigned int    coordNo )  const

Get the status of a particular coordinate. Gets the status of a particular coordinate without range check and is faster than GetCStatus(coordNo, status), but behavior is undefined for invalid coordinates. Valid coordinates are 0 to GetDimensionSize()-1. Parameters: coordNo  Coordinate of interest. Returns: The RRCoordinateStatus of the coordinate.

bool OSCAR::CoordinateSpace::GetCoordinateStatus (  unsigned int    coordNo, CoordinateStatus &    status )

Get the status of a particular coordinate. Get the status of a particular coordinate. This method checks for range errors and is slower than GotCStatus(coordNo). Parameters: coordNo  The coordinate of interest, an error set if not less than the size of the coordinate space. status  The RRCoordinateStatus value of Active or Inactive for the coordinate. Returns: True if no errors. False if there is an error. Call GetError() for more information. Exceptions: outOfRange  outOfRange

unsigned int OSCAR::CoordinateSpace::GetDimensionSize (    )  const

Get the number of dimensions in the coordinate space. Get the number of dimensions in a CoordinateSpace. Returns: The size of the coordinate space.

bool OSCAR::CoordinateSpace::Grow (  unsigned int    growth )

Increase the length of a Coordinate Space. New elements are set to Active. This method is used to increase the size(number of elements) in an CoordinateSpace object. Parameters: growth  The number of elements by which the CoordinateSpace should grow. Returns: true if successful and false if not. Reimplemented in OSCAR::CoordinateVector.

CoordinateSpace& OSCAR::CoordinateSpace::operator= (  const CoordinateSpace &    rhs )

Assignment operator. Assignment operator for CoordinateSpace which will resize the calling object if the array being copied is not of the same size. Parameters: rhs  An CoordinateSpace object that goes on the right hand side of the = operator. Returns: A reference to the object on the left hand side of the = operator.

void OSCAR::CoordinateSpace::SetAllCoordinateStatus (  const CoordinateStatus &    status )

Set the status of all coordinates. Sets all coordinate statuses to Active or Inactive. Parameters: status  A RRCoordinateStatus value of Active or Inactive.

bool OSCAR::CoordinateSpace::SetCoordinateStatus (  const CoordinateStatusArray &    statusArray )

Set the RRCoordinateStatusArray of a coordinate space. Set the the Active/Inactive status of each coordinate. Parameters: statusArray  Array of desired status. An error is set if the size is not equal to the size of this coordinate space. Returns: True if no errors. False if there is an error. Call GetError() for more information. Exceptions: arraySizeMismatch  arraySizeMismatch

bool OSCAR::CoordinateSpace::SetCoordinateStatus (  unsigned int    coordNo, CoordinateStatus    status )

Set the status of a particular coordinate. Set the Active/Inactive status of a particular coordinate. Parameters: coordNo  The coordinate for which you want to set the status. This should be less than the size of the coordinate space. status  A RRCoordinateStatus value of Active or Inactive. Returns: True if no errors. False if there is an error. Call GetError() for more information Exceptions: outOfRange  outOfRange

void OSCAR::CoordinateSpace::updateActiveDimSize (    )  [protected]

Update the number of dimensions that are active. This method is used to update the variable activeSpaceDim. This variable keeps track of how many dimensions are active at a given time.

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Member Data Documentation

unsigned int OSCAR::CoordinateSpace::activeSpaceDim [protected]

CoordinateStatusArray* OSCAR::CoordinateSpace::coordinateStatus [protected]

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The documentation for this class was generated from the following file:

• CoordinateSpace.h

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