path_line.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  path_line.h
00003 
00004                         path_line.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 *   ALTERNATIVE FOR trajectory_line.h/cpp
00031  *  \author
00032  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00033  *
00034  *  \version
00035  *              ORO_Geometry V0.2
00036  *
00037  *      \par History
00038  *              - $log$
00039  *
00040  *      \par Release
00041  *              $Id: path_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
00042  *              $Name:  $
00043  ****************************************************************************/
00044 
00045 #ifndef KDL_MOTION_PATH_LINE_H
00046 #define KDL_MOTION_PATH_LINE_H
00047 
00048 #include "path.hpp"
00049 #include "rotational_interpolation.hpp"
00050 
00051 
00052 namespace KDL {
00053 
00054 
00059 class Path_Line : public Path
00060         {
00061                 // Orientatie gedeelte
00062                 RotationalInterpolation* orient;
00063 
00064                 // Lineair gedeelte
00065                 Vector V_base_start;
00066                 Vector V_base_end;
00067                 Vector V_start_end;
00068 
00069                 double eqradius;  // equivalent radius
00070 
00071                 // verdeling baanlengte over pos/rot
00072                 double pathlength;
00073                 double scalelin;
00074                 double scalerot;
00075 
00076                 bool aggregate;
00077         public:
00107                 Path_Line(const Frame& F_base_start,
00108                         const Frame& F_base_end,
00109                         RotationalInterpolation* orient,
00110                         double eqradius,
00111                         bool _aggregate=true);
00112                 Path_Line(const Frame& F_base_start,
00113                         const Twist& twist_in_base,
00114                         RotationalInterpolation* orient,
00115                         double eqradius,
00116                         bool _aggregate=true);
00117                 double LengthToS(double length);
00118                 virtual double PathLength();
00119                 virtual Frame Pos(double s) const;
00120                 virtual Twist Vel(double s,double sd) const ;
00121                 virtual Twist Acc(double s,double sd,double sdd) const;
00122                 virtual void Write(std::ostream& os);
00123                 virtual Path* Clone();
00124 
00128                 virtual IdentifierType getIdentifier() const {
00129                         return ID_LINE;
00130                 }
00131                 virtual ~Path_Line();
00132         };
00133 
00134 
00135 }
00136 
00137 
00138 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14