(*
EXPRESS Source:
ISO 10303-105 ed3 Kinematics - Kinematic motion representation schema
ISO 10303 TC184/SC4/WG12 N10343

The following permission notice and disclaimer shall be included in all copies of this EXPRESS schema ("the Schema"), 
and derivations of the Schema:

Copyright ISO 2019  All rights reserved
Permission is hereby granted, free of charge in perpetuity, to any person obtaining a copy of the Schema,
to use, copy, modify, merge and distribute free of charge, copies of the Schema for the purposes of developing, 
implementing, installing and using software based on the Schema, and to permit persons to whom the Schema is furnished to do so, 
subject to the following conditions:

THE SCHEMA IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SCHEMA OR THE 
USE OR OTHER DEALINGS IN THE SCHEMA.

In addition, any modified copy of the Schema shall include the following notice:

THIS SCHEMA HAS BEEN MODIFIED FROM THE SCHEMA DEFINED IN
ISO 10303-105 ed2 Kinematics - Kinematic motion representation schema
AND SHOULD NOT BE INTERPRETED AS COMPLYING WITH THAT STANDARD
*)

SCHEMA kinematic_motion_representation_schema '{iso standard 10303 part(105) version(5) object(1) kinematic_motion_representation_schema(5)}';

REFERENCE FROM geometry_schema 	-- ISO 10303-42
    (axis2_placement,
     b_spline_curve,
     b_spline_surface,
     bounded_curve,
     cartesian_point,
     curve,
     geometric_representation_context,
     geometric_representation_item,
     placement,
     transition_code);
     
REFERENCE FROM kinematic_state_schema	-- ISO 10303-105
    (rotation_about_direction,
     spatial_rotation,
     ypr_rotation,
     mechanism_state_representation);

REFERENCE FROM kinematic_structure_schema -- ISO 10303-105
	(kinematic_link_representation,
	 mechanism_representation,
	 rigid_placement); 

REFERENCE FROM measure_schema -- ISO 10303-41
    (length_measure,
     measure_with_unit,
     parameter_value,
     plane_angle_measure,
     unit);
     
REFERENCE FROM product_property_representation_schema	-- ISO 10303-41
    (shape_representation);   
     
REFERENCE FROM representation_schema		-- ISO 10303-43
    (definitional_representation,
     founded_item,
     functionally_defined_transformation,
     item_defined_transformation,
     item_in_context,
     parametric_representation_context,
     representation,
     representation_item,
     representation_relationship,
     definitional_representation_relationship,
     representation_relationship_with_transformation,
     using_representations);
 
TYPE link_or_shape_representation = SELECT(
  kinematic_link_representation,
  shape_representation);
END_TYPE;

TYPE interpolation_type = ENUMERATION OF
  (undefined_interpolation_type,
   discontinuous_interpolation_type,
   synchronous_interpolation_type,
   linear_interpolation_type);
END_TYPE;

ENTITY interpolated_configuration_representation
  SUBTYPE OF (representation);
  SELF\representation.context_of_items : geometric_representation_context_with_parameter;
  SELF\representation.items : SET[1:?] OF interpolated_configuration_sequence;
END_ENTITY;

ENTITY interpolated_configuration_sequence
  SUBTYPE OF (geometric_representation_item);
  segments : LIST[2:?] OF interpolated_configuration_segment;
DERIVE
  n_segments : INTEGER := SIZEOF(segments);
  closed_interpolation : LOGICAL := segments[n_segments].interpolation <> discontinuous_interpolation_type;
  configured_mechanism : mechanism_representation := segments[1].state.represented_mechanism;
WHERE
  WR1: SIZEOF( QUERY(ics <* segments | ics.state.represented_mechanism :<>: configured_mechanism)) = 0;
END_ENTITY;  

ENTITY interpolated_configuration_segment
  SUBTYPE OF (founded_item);
  state : mechanism_state_representation;
  t_parameter : parameter_value;
  interpolation : interpolation_type;
END_ENTITY;

ENTITY link_motion_relationship
  SUBTYPE OF (definitional_representation_relationship, representation_relationship_with_transformation);
  SELF\representation_relationship.rep_1 : link_or_shape_representation;
  SELF\representation_relationship.rep_2 : link_motion_representation_along_path;
  SELF\representation_relationship_with_transformation.transformation_operator : link_motion_transformation;
WHERE
  WR1: transformation_operator\item_defined_transformation.transform_item_1 IN rep_1.items;
  WR2: transformation_operator\item_defined_transformation.transform_item_2 IN rep_2.items;
END_ENTITY;

ENTITY item_link_motion_relationship
  SUBTYPE OF (link_motion_relationship);
  SELF\representation_relationship.rep_1 : shape_representation;
  item : geometric_representation_item;
END_ENTITY;  

ENTITY link_motion_transformation
  SUBTYPE OF (item_defined_transformation);
  SELF\item_defined_transformation.transform_item_1 : rigid_placement;
  SELF\item_defined_transformation.transform_item_2 : kinematic_path;
END_ENTITY;

ENTITY link_motion_representation_along_path
  SUBTYPE OF (representation);
  SELF\representation.items : SET [1:?] OF kinematic_path;
  SELF\representation.context_of_items : geometric_representation_context_with_parameter;
END_ENTITY;

ENTITY geometric_representation_context_with_parameter 
  SUBTYPE OF (geometric_representation_context);
  parameter_unit : OPTIONAL unit;
END_ENTITY;

ENTITY kinematic_path
  ABSTRACT SUPERTYPE OF (ONEOF (kinematic_path_defined_by_nodes, kinematic_path_defined_by_curves))
  SUBTYPE OF (geometric_representation_item);
  segments : LIST [1:?] OF kinematic_path_segment;
  t_start : parameter_value;
DERIVE
  n_segments : INTEGER := SIZEOF(segments);
  closed_path : LOGICAL := segments[n_segments].transition <> discontinuous;
WHERE
  WR1: SIZEOF(QUERY(using_rep <* using_representations(SELF)| 
        NOT('KINEMATIC_MOTION_REPRESENTATION_SCHEMA.GEOMETRIC_REPRESENTATION_CONTEXT_WITH_PARAMETER' IN TYPEOF(using_rep.context_of_items))))= 0;
  -- WR2 - parameters are increasing
  -- WR3 - different end positions
END_ENTITY;

ENTITY kinematic_path_defined_by_nodes
  SUBTYPE OF (kinematic_path);
  SELF\kinematic_path.segments : LIST [1:?] OF path_node;
  placement_start : placement;
END_ENTITY;  

ENTITY kinematic_path_defined_by_curves
  SUBTYPE OF (kinematic_path);
  SELF\kinematic_path.segments : LIST [1:?] OF curve_based_path_with_orientation;
END_ENTITY;  

ENTITY kinematic_path_segment
  ABSTRACT SUPERTYPE OF (ONEOF (
    path_node,
    curve_based_path_with_orientation) )
  SUBTYPE OF (founded_item);
  t_end : parameter_value;
  transition : transition_code;
END_ENTITY;

ENTITY path_parameter_representation
  SUBTYPE OF (definitional_representation);
  SELF\representation.context_of_items : path_parameter_representation_context;
  SELF\representation.items : SET[1:?] OF bounded_curve;
WHERE
  WR1: SELF\representation.context_of_items\geometric_representation_context.coordinate_space_dimension = 2;
END_ENTITY;

ENTITY path_parameter_representation_context
  SUBTYPE OF (geometric_representation_context, parametric_representation_context);
END_ENTITY;  

ENTITY path_node
  ABSTRACT SUPERTYPE OF (ONEOF (
    point_to_point_path,
    circular_path,
    linear_path,
    curve_based_path))
  SUBTYPE OF (kinematic_path_segment);
  placement_end : placement;
END_ENTITY;

ENTITY point_to_point_path
  SUBTYPE OF (path_node);
DERIVE
  SELF\kinematic_path_segment.transition : transition_code := discontinuous;
END_ENTITY;

ENTITY circular_path
  SUBTYPE OF (path_node);
  via_point : cartesian_point;
END_ENTITY;

ENTITY linear_path
  SUBTYPE OF (path_node);
DERIVE
  SELF\kinematic_path_segment.transition : transition_code := continuous;
END_ENTITY;

ENTITY curve_based_path
  SUBTYPE OF (path_node);
  path_curve : curve;
END_ENTITY;
-- IP1 : start and end point shall be on the curve

ENTITY curve_based_path_with_orientation
  SUBTYPE OF (kinematic_path_segment);
  position_curve : bounded_curve;
  orientation_curve : bounded_curve;
WHERE
  WR1: TYPEOF(position_curve) = TYPEOF(orientation_curve);
END_ENTITY;

ENTITY curve_based_path_with_orientation_and_parameters
  SUBTYPE OF (curve_based_path_with_orientation);
  parameters : path_parameter_representation;
END_ENTITY;  

SUBTYPE_CONSTRAINT kmr_representation_subtypes FOR representation;
  ONEOF (interpolated_configuration_representation, link_motion_representation_along_path);
END_SUBTYPE_CONSTRAINT; 

SUBTYPE_CONSTRAINT kmr_geometric_representation_item_subtypes FOR geometric_representation_item;
  ONEOF (
    kinematic_path,
    placement);
END_SUBTYPE_CONSTRAINT; 

SUBTYPE_CONSTRAINT kmr_geometric_representation_context_subtypes FOR geometric_representation_context;
  ONEOF (geometric_representation_context_with_parameter, path_parameter_representation_context);
END_SUBTYPE_CONSTRAINT; 

END_SCHEMA;   -- end kinematic_motion_representation_schema