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Cylisphere.hpp

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//
//       Title           : Cylisphere.hpp
//       Project         : OSCAR
//       Created         : Dec 16, 1996
//       Author          : Troy Harden
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//       Purpose         : Abstract obstacle .  Defines the obstacle
//                         interface for the various obstacles.
//
//       $Log: Cylisphere.hpp,v $
//       Revision 1.5  2005/06/21 15:31:08  aspencer
//       Re-wrapped the hpp files with _SOLID ifdefs, per chetan.
//
//       Revision 1.4  2005/06/10 17:03:18  josh
//       Added Clone method.
//
//       Revision 1.3  2005/06/07 18:20:46  aspencer
//       Changed how SOLID functionality was implemented so that there are no #ifdef _SOLID tags in the header files which would cause errors when the header file was included in another library.
//
//       Revision 1.2  2005/06/06 23:26:13  aspencer
//       Changed all "SetInfo" functions to be "SetProperties" functions.
//
//       Revision 1.1  2005/06/03 18:15:40  aspencer
//       Removed the "Ob" designation from all primitive names (BoxOb is now Box, etc). Changed "CylOb" to "Cylisphere".
//
//       Revision 1.18  2005/06/01 22:27:29  chetan
//       Made changes to copyright headers
//
//       Revision 1.17  2005/06/01 19:51:05  aspencer
//       Made further changes to commenting.
//
//       Revision 1.16  2005/05/31 19:38:41  aspencer
//       Changes to various function names in the primitive classes (trying to fit the "Get/Set" scheme of the rest of OSCAR). Also moved some code in primitive files from .hpp to .cpp, as it should be.
//
//       Revision 1.15  2005/05/27 15:56:48  aspencer
//       Changed "Reference" enumeration to "ReferenceFrame"
//
//       Revision 1.14  2005/05/26 21:01:53  aspencer
//       Changed "obstacle" to "primitive" in both the obstacle and the skeletalobstacle class. Inserted "modeling object" abstract class, which primitive (was obstacle) now inherits from. Updated the rest of OSCAR to reflect this.
//
//       Revision 1.13  2005/04/28 18:46:26  aspencer
//       Updated commenting for doxygen.
//
//       Revision 1.12  2005/04/28 17:29:27  aspencer
//       Completed changeover to using the Local/Global functionality. If SOLID is being used and an updateinfo type function is called on either local or global points, the SOLID object will be destroyed and recreated accordingly.
//
//       Revision 1.11  2005/04/26 22:18:54  aspencer
//       Added the functionality to have SOLID do any cylisphere-cylisphere calculations
//
//       Revision 1.10  2005/04/21 16:27:54  aspencer
//       Inserted a new "skeletalobstacle" abstract class which inherits from obstacle. Planes, spheres and cylispheres now all inherit from this new class.
//
//       Revision 1.9  2005/03/14 22:06:19  aspencer
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.8  2004/10/25 20:06:20  aspencer
//       Corrected commenting error
//
//       Revision 1.7  2004/05/28 19:20:22  eswint
//       - Added the \ingroup Obstacle Avoidance for Doxygen commenting
//
//       Revision 1.6  2004/05/24 21:26:43  eswint
//       - Updated comments
//
//       Revision 1.5  2004/05/20 14:06:45  eswint
//       - Put all files in the OSCAR namespace
//
//       Revision 1.4  2004/05/11 18:56:40  eswint
//       - Using namespace ObstacleAvoidance
//       - Removed "RR" from class names
//
//       Revision 1.3  2004/04/27 21:09:53  eswint
//       - moved point information and methods to Obstacle
//
//       Revision 1.2  2004/04/13 21:29:53  eswint
//       - Added/Corrected commenting
//
//       Revision 1.1  2004/04/13 18:04:53  eswint
//       - Changed file extensions to comply with development guidelines
//
//       Revision 1.6  2004/03/15 20:26:54  chetan
//       Changes to ObAvData.C to support loading of spherical obstacle data
//
//       Revision 1.5  2004/01/28 21:40:44  eswint
//       - moved _init, radius to Obstacle 
//
//       Revision 1.4  2004/01/27 21:49:02  eswint
//       - changed parameters to const and/or RRVector3 where appropriate
//       - replaced RRVector3** with vector<vector<Vector3>>
//
//       Revision 1.3  2004/01/22 17:06:16  eswint
//       - Changed UpdateInfo1 and UpdateInfo2 to UpdatePt
//
//       Revision 1.2  2004/01/22 15:27:39  eswint
//       - Lots o' changes
//
//       Revision 1.1  2003/08/18 18:37:24  eswint
//       Initial Commit
//
//
#ifndef Cylisphere_h
#define Cylisphere_h

//Includes go here
#include "SkeletalPrimitive.hpp"

namespace OSCAR { 

class Cylisphere : public SkeletalPrimitive {
public:

  Cylisphere(const Vector3& pt0, const Vector3& pt1, double rd); //Constructor

  Cylisphere(const Cylisphere& arg);

  Cylisphere();

        virtual Cylisphere* Clone() const;

  bool SetProperties(const Vector3& pt0, const Vector3& pt1, double rd);
  
  Cylisphere& operator=(const Cylisphere& rhs);

protected:
#if defined _SOLID
  virtual bool createSolid();
#endif

};

//Inline include
#include "Cylisphere.ipp"
}  //namespace OSCAR
#endif //Cylisphere_h

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