path.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h 00003 00004 path.h - description 00005 ------------------- 00006 begin : Mon January 10 2005 00007 copyright : (C) 2005 Erwin Aertbelien 00008 email : erwin.aertbelien@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 00029 /***************************************************************************** 00030 * \author 00031 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00032 * 00033 * \version 00034 * ORO_Geometry V0.2 00035 * 00036 * \par History 00037 * - $log$ 00038 * 00039 * \par Release 00040 * $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $ 00041 * $Name: $ 00042 ****************************************************************************/ 00043 00044 #ifndef KDL_MOTION_PATH_H 00045 #define KDL_MOTION_PATH_H 00046 00047 #include "frames.hpp" 00048 00049 #include <vector> 00050 00051 #include "frames_io.hpp" 00052 00053 namespace KDL { 00054 00058 class Path 00059 { 00060 public: 00061 enum IdentifierType { 00062 ID_LINE=1, 00063 ID_CIRCLE=2, 00064 ID_COMPOSITE=3, 00065 ID_ROUNDED_COMPOSITE=4, 00066 ID_POINT=5, 00067 ID_CYCLIC_CLOSED=6 00068 }; 00081 virtual double LengthToS(double length) = 0; 00082 00089 virtual double PathLength() = 0; 00090 00094 virtual Frame Pos(double s) const = 0; 00095 00100 virtual Twist Vel(double s,double sd) const = 0; 00101 00106 virtual Twist Acc(double s,double sd,double sdd) const = 0; 00107 00111 virtual void Write(std::ostream& os) = 0; 00112 00117 static Path* Read(std::istream& is); 00118 00123 virtual Path* Clone() = 0; 00124 00128 virtual IdentifierType getIdentifier() const=0; 00129 00130 virtual ~Path() {} 00131 }; 00132 00133 } 00134 00135 00136 #endif