GCS: Support for solver constraints to store driven/driving status
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@@ -37,7 +37,7 @@ namespace GCS
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///////////////////////////////////////
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Constraint::Constraint()
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: origpvec(0), pvec(0), scale(1.), tag(0), pvecChangedFlag(true)
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: origpvec(0), pvec(0), scale(1.), tag(0), pvecChangedFlag(true), driving(true)
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{
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}
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@@ -99,6 +99,7 @@ namespace GCS
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double scale;
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int tag;
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bool pvecChangedFlag; //indicates that pvec has changed and saved pointers must be reconstructed (currently used only in AngleViaPoint)
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bool driving;
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public:
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Constraint();
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virtual ~Constraint(){}
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@@ -109,6 +110,9 @@ namespace GCS
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void revertParams();
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void setTag(int tagId) { tag = tagId; }
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int getTag() { return tag; }
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void setDriving(bool isdriving) { driving = isdriving; }
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bool isDriving() { return driving; }
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virtual ConstraintType getTypeId();
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virtual void rescale(double coef=1.);
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