Tools/Actorics/JointDataSequencer.h

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/** 
* @file JointDataSequencer.h
*
* Definition of class JointDataSequencer.
*
* @author Max Risler
*/

#ifndef __JOINTDATASEQUENCER_H__
#define __JOINTDATASEQUENCER_H__

#include "Representations/Motion/JointDataSequence.h"

/** 
* @class JointDataSequencer
* A class executing JointDataSequences.
* It derives from JointDataSequence but adds methods to execute the sequence.
*/
class JointDataSequencer : public JointDataSequence
{
public:
  /** Constructor */
  JointDataSequencer();

   /** Assignment operator */
  JointDataSequencer& operator=(const JointDataSequence& other);

  /** write next data from current sequent to jointData */
  void nextSequenceData(JointData& jointData);

  /** start executing the sequence */
  void start();

  /** stop executing the sequence */
  void stop();

  /** returns true if the sequence is being executed */
  bool isRunning();

protected:

  /** interpolate joint data
   * @param jointData stores interpolated data
   * @param from data to start from
   * @param to data to interpolate to
   * @param step index of interpolation step
   * @param len length of interpolation
   */
  void interpolateJointData(
    JointData& jointData,
    const JointData& from, const JointData& to, int step, int len
    );

  /** true if the sequence is being executed */
  bool running;

  /** current position in sequence */
  int sequencePos;

  /** counter for repetition of current sequence line */
  int repetitionCounter;

};

#endif //__JOINTDATASEQUENCER_H__

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