path_cyclic_closed.cpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_cyclic_closed.cxx 00003 00004 path_cyclic_closed.cxx - description 00005 ------------------- 00006 begin : Mon May 10 2004 00007 copyright : (C) 2004 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 * \author 00029 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00030 * 00031 * \version 00032 * ORO_Geometry V0.2 00033 * 00034 * \par History 00035 * - $log$ 00036 * 00037 * \par Release 00038 * $Id: path_cyclic_closed.cpp,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $ 00039 * $Name: $ 00040 ****************************************************************************/ 00041 00042 00043 #include "path_cyclic_closed.hpp" 00044 #include "utilities/error.h" 00045 00046 namespace KDL { 00047 00048 Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate): 00049 times(_times),geom(_geom), aggregate(_aggregate) {} 00050 00051 double Path_Cyclic_Closed::LengthToS(double length) { 00052 throw Error_MotionPlanning_Not_Applicable(); 00053 return 0; 00054 } 00055 00056 double Path_Cyclic_Closed::PathLength(){ 00057 return geom->PathLength()*times; 00058 } 00059 00060 Frame Path_Cyclic_Closed::Pos(double s) const { 00061 return geom->Pos( fmod(s,geom->PathLength()) ); 00062 } 00063 00064 Twist Path_Cyclic_Closed::Vel(double s,double sd) const { 00065 return geom->Vel( fmod(s,geom->PathLength()),sd ); 00066 } 00067 00068 Twist Path_Cyclic_Closed::Acc(double s,double sd,double sdd) const { 00069 return geom->Acc( fmod(s,geom->PathLength()),sd,sdd ); 00070 } 00071 00072 00073 Path_Cyclic_Closed::~Path_Cyclic_Closed() { 00074 if (aggregate) 00075 delete geom; 00076 } 00077 00078 Path* Path_Cyclic_Closed::Clone() { 00079 return new Path_Cyclic_Closed(geom->Clone(),times, aggregate); 00080 } 00081 00082 void Path_Cyclic_Closed::Write(std::ostream& os) { 00083 os << "CYCLIC_CLOSED[ "; 00084 os << " ";geom->Write(os);os << std::endl; 00085 os << " " << times << std::endl; 00086 os << "]" << std::endl; 00087 } 00088 00089 } 00090