00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00037 #ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H 00038 #define FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H 00039 00040 #include "fcl/data_types.h" 00041 #include "fcl/ccd/interpolation/interpolation.h" 00042 00043 #include <boost/shared_ptr.hpp> 00044 00045 namespace fcl 00046 { 00047 00048 class InterpolationFactory; 00049 00050 class InterpolationLinear : public Interpolation 00051 { 00052 public: 00053 InterpolationLinear(); 00054 00055 InterpolationLinear(FCL_REAL start_value, FCL_REAL end_value); 00056 00057 virtual FCL_REAL getValue(FCL_REAL time) const; 00058 00059 virtual FCL_REAL getValueLowerBound() const; 00060 virtual FCL_REAL getValueUpperBound() const; 00061 00062 virtual InterpolationType getType() const; 00063 00064 virtual FCL_REAL getMovementLengthBound(FCL_REAL time) const; 00065 00066 virtual FCL_REAL getVelocityBound(FCL_REAL time) const; 00067 00068 public: 00069 static boost::shared_ptr<Interpolation> create(FCL_REAL start_value, FCL_REAL end_value); 00070 00071 static void registerToFactory(); 00072 }; 00073 00074 } 00075 00076 #endif
