path_composite.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_composite.h 00003 00004 path_composite.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_composite.h,v 1.1.1.1.2.5 2003/07/24 13:49:16 rwaarsin Exp $ 00041 * $Name: $ 00042 ****************************************************************************/ 00043 00044 #ifndef KDL_PATHCOMPOSITE_H 00045 #define KDL_PATHCOMPOSITE_H 00046 00047 #include "frames.hpp" 00048 #include "frames_io.hpp" 00049 #include "path.hpp" 00050 #include <vector> 00051 00052 namespace KDL { 00053 00069 class Path_Composite : public Path 00070 { 00071 typedef std::vector< std::pair<Path*,bool> > PathVector; 00072 typedef std::vector<double> DoubleVector; 00073 00074 PathVector gv; 00075 DoubleVector dv; 00076 double pathlength; 00077 00078 // lookup mechanism : 00079 mutable double cached_starts; 00080 mutable double cached_ends; 00081 mutable int cached_index; 00082 double Lookup(double s) const; 00083 public: 00084 00085 00086 Path_Composite(); 00087 00091 void Add(Path* geom, bool aggregate=true); 00092 00093 00094 virtual double LengthToS(double length); 00101 virtual double PathLength(); 00102 00106 virtual Frame Pos(double s) const; 00107 00112 virtual Twist Vel(double s,double sd) const; 00113 00118 virtual Twist Acc(double s,double sd,double sdd) const; 00119 00120 virtual Path* Clone(); 00121 00125 virtual void Write(std::ostream& os); 00126 00130 virtual int GetNrOfSegments(); 00131 00139 virtual Path* GetSegment(int i); 00140 00147 virtual double GetLengthToEndOfSegment(int i); 00148 00154 virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s); 00155 00159 virtual IdentifierType getIdentifier() const { 00160 return ID_COMPOSITE; 00161 } 00162 00163 virtual ~Path_Composite(); 00164 }; 00165 00166 00167 00168 } 00169 00170 00171 #endif