MIMO::Ptr MotionProfileTrapezoidal::clone() {
MotionProfileTrapezoidal::Ptr tmp =
boost::make_shared< MotionProfileTrapezoidal > ();
tmp->setProgressExpression(
getProgressExpression()->clone()
);
for (int i=0;i<nrOfOutputs();++i) {
tmp->addOutput(
getStartValue(i)->clone(),
getEndValue(i)->clone(),
getMaxVelocity(i)->clone(),
getMaxAcceleration(i)->clone() );
}
return tmp;
}
bool Editor::performMoving(unsigned int boxId, int x, int y, vector<unsigned int>& movedBoxes, int maxModification)
{
CSP* containingCSP = m_boxIdToContainingCSP[boxId];
ConstrainedBox* currentBox = containingCSP->getBoxById(boxId);
ConstrainedBox* motherBox = currentBox->mother();
// if ((x > motherBox->lengthValue()) || (y > motherBox->lengthValue())) {
// return false;
// }
containingCSP->changeAllBoxMaxSceneWidth(motherBox->lengthValue());
CSP* boxCSP = currentBox->getCSP();
int previousX = getBeginValue(boxId);
int previousY = getEndValue(boxId);
if (boxCSP != NULL) {
std::vector<unsigned int> boxesId;
boxCSP->getAllBoxesId(boxesId);
if (boxesId.size() != 0) {
unsigned int maxValue = 0;
for (unsigned int i = 0; i < boxesId.size(); ++i) {
unsigned int currentChildBoxEnd = boxCSP->getEndValue(boxesId[i]);
if(currentChildBoxEnd > maxValue) {
maxValue = currentChildBoxEnd;
}
}
if ((unsigned int)(y - x) < maxValue) {
return false;
}
}
}
int modificationX = abs(previousX - x);
int modificationY = abs(previousY - y);
if (maxModification < modificationX) {
maxModification = modificationX;
}
if (maxModification < modificationY) {
maxModification = modificationY;
}
unsigned int hierarchyRelation = currentBox->getHierarchyRelationId();
if (hierarchyRelation != NO_ID) {
containingCSP->removeTemporalRelation(hierarchyRelation);
}
std::vector<unsigned int> hierarchyRelationMovedBoxes;
if(containingCSP->performMoving(boxId, x, y, movedBoxes, maxModification)) {
if (hierarchyRelation != NO_ID) {
containingCSP->addAntPostRelation(hierarchyRelation,
boxId, BEGIN_CONTROL_POINT_INDEX,
boxId, END_CONTROL_POINT_INDEX,
ANTPOST_ANTERIORITY,
currentBox->lengthValue(),
currentBox->lengthValue(),
hierarchyRelationMovedBoxes,
false);
}
movedBoxes.clear();
getAllBoxesId(movedBoxes);
return true;
} else {
// put back the CSP into its previous state.
containingCSP->performMoving(boxId, previousX, previousY, movedBoxes, maxModification);
movedBoxes.clear();
getAllBoxesId(movedBoxes);
return false;
}
}
