trajectory.h
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00001 /*
00002 Copyright (C) 2002-2004  Etienne Lachance
00003 
00004 This library is free software; you can redistribute it and/or modify
00005 it under the terms of the GNU Lesser General Public License as
00006 published by the Free Software Foundation; either version 2.1 of the
00007 License, or (at your option) any later version.
00008 
00009 This library is distributed in the hope that it will be useful,
00010 but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 GNU Lesser General Public License for more details.
00013 
00014 You should have received a copy of the GNU Lesser General Public
00015 License along with this library; if not, write to the Free Software
00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00017 
00018 
00019 Report problems and direct all questions to:
00020 
00021 email: etienne.lachance@polymtl.ca or richard.gourdeau@polymtl.ca
00022 
00023 Reference:
00024 
00025 [1] J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms,
00026     Springer-Verlag, Mechanical Engineering Series, 1997, ISBN: 0-387-94540-7.
00027 
00028 [2] E.B. Dam, M. Koch and M. Lillholm, "Quaternions, Interpolation and Animation",
00029     tech report of University of Copenhagen, number: DIKU-TR-98/5, 1998.
00030 
00031 -------------------------------------------------------------------------------
00032 Revision_history:
00033 
00034 2004/05/22: Etienne Lachance
00035    -Added class Trajectory_Select.
00036 
00037 2004/07/01: Etienne Lachance
00038    -Added doxygen documentation.
00039 
00040 2004/07/01: Ethan Tira-Thompson
00041     -Added support for newmat's use_namespace #define, using ROBOOP namespace
00042 
00043 2005/11/06: Etienne Lachance
00044     - No need to provide a copy constructor and the assignment operator 
00045       (operator=) for Spl_Quaternion, Spl_Cubic and Spl_path classes. Instead we 
00046       use the one provide by the compiler.
00047 -------------------------------------------------------------------------------
00048 */
00049 
00050 
00051 #ifndef TRAJECTORY_H
00052 #define TRAJECTORY_H
00053 
00059 
00060 static const char header_trajectory_rcsid[] = "$Id: trajectory.h,v 1.10 2006/05/16 19:24:26 gourdeau Exp $";
00061 
00062 
00063 #ifdef _MSC_VER                         // Microsoft
00064 //#include <string.h>
00065 //#include <iostream.h>
00066 #pragma warning (disable:4786)  /* Disable decorated name truncation warnings */
00067 #endif
00068 //#include <string>
00069 //#include <iostream>
00070 
00071 //#include <fstream>
00072 #include <sstream>
00073 #include <map>
00074 #include "quaternion.h"
00075 #include "utils.h"
00076 
00077 #ifdef use_namespace
00078 namespace ROBOOP {
00079   using namespace NEWMAT;
00080 #endif
00081 
00082 #define K_ZER0          1
00083 #define BAD_DATA       -1
00084 #define EXTRAPOLLATION -2
00085 #define NOT_IN_RANGE   -3
00086 
00091 class Spl_cubic
00092 {
00093 public:
00094    Spl_cubic(){};
00095    Spl_cubic(const Matrix & pts);
00096    short interpolating(const Real t, ColumnVector & s);
00097    short first_derivative(const Real t, ColumnVector & ds);
00098    short second_derivative(const Real t, ColumnVector & dds);
00099 private:
00100    int nb_path;    
00101    Matrix
00102    Ak, Bk, Ck, Dk;
00103    RowVector tk;   
00104    bool bad_data;  
00105 };
00106 
00107 
00108 #define NONE            0
00109 #define JOINT_SPACE     1
00110 #define CARTESIAN_SPACE 2
00111 
00113 typedef std::map< Real, ColumnVector, less< Real > > point_map;
00114 
00115 
00120 class Spl_path : public Spl_cubic
00121 {
00122 public:
00123    Spl_path():Spl_cubic(){};
00124    Spl_path(const std::string & filename);
00125    Spl_path(const Matrix & x);
00126    short p(const Real time, ColumnVector & p);
00127    short p_pdot(const Real time, ColumnVector & p, ColumnVector & pdot);
00128    short p_pdot_pddot(const Real time, ColumnVector & p, ColumnVector & pdot,
00129                       ColumnVector & pdotdot);
00130    short get_type(){ return type; }
00131    double get_final_time(){ return final_time; }
00132    
00133 private:
00134    short type;        
00135    double final_time; 
00136 };
00137 
00138 
00140 typedef std::map< Real, Quaternion, less< Real > > quat_map;
00141 
00142 
00147 class Spl_Quaternion
00148 {
00149 public:
00150    Spl_Quaternion(){}
00151    Spl_Quaternion(const std::string & filename);
00152    Spl_Quaternion(const quat_map & quat);
00153    short quat(const Real t, Quaternion & s);
00154    short quat_w(const Real t, Quaternion & s, ColumnVector & w);
00155 private:
00156    quat_map quat_data;  
00157 };
00158 
00159 
00164 class Trajectory_Select
00165 {
00166 public:
00167     Trajectory_Select();
00168     Trajectory_Select(const std::string & filename);
00169     Trajectory_Select & operator=(const Trajectory_Select & x);
00170 
00171     void set_trajectory(const std::string & filename);
00172 
00173     short type;               
00174     Spl_path path;            
00175     Spl_Quaternion path_quat; 
00176 private:
00177     bool quaternion_active;   
00178 };
00179 
00180 #ifdef use_namespace
00181 }
00182 #endif
00183 
00184 #endif


kni
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:07