axial_symmetric_pt.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2015, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef AXIAL_SYMMETRIC_PT_H
#define AXIAL_SYMMETRIC_PT_H

#include <descartes_trajectory/cart_trajectory_pt.h>

namespace descartes_trajectory
{

class AxialSymmetricPt : public descartes_trajectory::CartTrajectoryPt
{
public:

  enum FreeAxis
  {
    X_AXIS,
    Y_AXIS,
    Z_AXIS
  };

  AxialSymmetricPt(const descartes_core::TimingConstraint& timing = descartes_core::TimingConstraint());

  AxialSymmetricPt(double x, double y, double z, double rx, double ry, double rz,
                   double orient_increment, FreeAxis axis,
                   const descartes_core::TimingConstraint& timing = descartes_core::TimingConstraint());

  AxialSymmetricPt(const Eigen::Affine3d& pose, double orient_increment, FreeAxis axis,
                   const descartes_core::TimingConstraint& timing = descartes_core::TimingConstraint());

  virtual descartes_core::TrajectoryPtPtr copy() const
  {
    return descartes_core::TrajectoryPtPtr(new AxialSymmetricPt(*this));
  }

};


} // descartes trajectory

#endif // AXIAL_SYMMETRIC_PT_H