collisiondetectors/CD_JointLimits.h

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//## begin module%37542C1B0011.cm preserve=no
//        %X% %Q% %Z% %W%
//## end module%37542C1B0011.cm

//## begin module%37542C1B0011.cp preserve=no
//## end module%37542C1B0011.cp

//## Module: CD_JointLimits%37542C1B0011; Pseudo Package specification
//## Source file: C:\project\mpk\code\CollisionDetectors\CD_JointLimits.h

#ifndef CD_JointLimits_h
#define CD_JointLimits_h 1

//## begin module%37542C1B0011.additionalIncludes preserve=no
//## end module%37542C1B0011.additionalIncludes

//## begin module%37542C1B0011.includes preserve=yes
//## end module%37542C1B0011.includes

// CollisionDetectorBase
#include "CollisionDetectors\CollisionDetectorBase.h"

class Configuration;
class VectorN;

//## begin module%37542C1B0011.additionalDeclarations preserve=yes
//## end module%37542C1B0011.additionalDeclarations


//## begin CD_JointLimits%37542C1B0011.preface preserve=yes
//## end CD_JointLimits%37542C1B0011.preface

//## Class: CD_JointLimits%37542C1B0011; Abstract
//## Category: CollisionDetectors%36FB14140230
//## Persistence: Transient
//## Cardinality/Multiplicity: n

//## Uses: <unnamed>%376FF9D70265;Configuration { -> F}

class CD_JointLimits : virtual public CollisionDetectorBase  //## Inherits: <unnamed>%3949B1F80384
{
  //## begin CD_JointLimits%37542C1B0011.initialDeclarations preserve=yes
  //## end CD_JointLimits%37542C1B0011.initialDeclarations

  public:
    //## Destructor (generated)
      virtual ~CD_JointLimits();


    //## Other Operations (specified)
      //## Operation: JointMax%928263325
      virtual double JointMax (const unsigned int jointNum) const = 0;

      //## Operation: JointMin%928263326
      virtual double JointMin (const unsigned int jointNum) const = 0;

      //## Operation: DOF%928263332
      virtual unsigned int DOF () const = 0;

      //## Operation: JointWraps%928263334
      virtual bool JointWraps (const unsigned int jointNum) const = 0;

      //## Operation: DistanceBetween%930083383
      double DistanceBetween (const Configuration& c1, const Configuration& c2) const;

          // Calculates the wrapping (if applicable) displacement of each joint between the two
          // given configurations:  returns c2 - c1.
          VectorN JointDisplacement(const Configuration& c1, const Configuration& c2) const;


    // Additional Public Declarations
      //## begin CD_JointLimits%37542C1B0011.public preserve=yes
      //## end CD_JointLimits%37542C1B0011.public

  protected:
    // Additional Protected Declarations
      //## begin CD_JointLimits%37542C1B0011.protected preserve=yes
      //## end CD_JointLimits%37542C1B0011.protected

  private:
    // Additional Private Declarations
      //## begin CD_JointLimits%37542C1B0011.private preserve=yes
      //## end CD_JointLimits%37542C1B0011.private

  private: //## implementation
    // Additional Implementation Declarations
      //## begin CD_JointLimits%37542C1B0011.implementation preserve=yes
      //## end CD_JointLimits%37542C1B0011.implementation

};

//## begin CD_JointLimits%37542C1B0011.postscript preserve=yes
//## end CD_JointLimits%37542C1B0011.postscript

// Class CD_JointLimits 

//## begin module%37542C1B0011.epilog preserve=yes
//## end module%37542C1B0011.epilog


#endif

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