00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef COB_CARTESIAN_CONTROLLER_TRAJECTORY_PROFILE_GENERATOR_TRAJECTORY_PROFILE_GENERATOR_SINOID_H 00019 #define COB_CARTESIAN_CONTROLLER_TRAJECTORY_PROFILE_GENERATOR_TRAJECTORY_PROFILE_GENERATOR_SINOID_H 00020 00021 #include <vector> 00022 #include <cob_cartesian_controller/trajectory_profile_generator/trajectory_profile_generator_base.h> 00023 00024 /* BEGIN TrajectoryProfileSinoid ****************************************************************************************/ 00025 class TrajectoryProfileSinoid : public TrajectoryProfileBase 00026 { 00027 public: 00028 explicit TrajectoryProfileSinoid(const cob_cartesian_controller::CartesianActionStruct& params) 00029 : TrajectoryProfileBase(params) 00030 {} 00031 00032 ~TrajectoryProfileSinoid() 00033 {} 00034 00035 virtual bool getProfileTimings(double Se, double te, bool calcMaxTe, cob_cartesian_controller::ProfileTimings& pt); 00036 virtual std::vector<double> getTrajectory(double se, cob_cartesian_controller::ProfileTimings pt); 00037 }; 00038 /* END TrajectoryProfileSinoid **********************************************************************************************/ 00039 00040 #endif // COB_CARTESIAN_CONTROLLER_TRAJECTORY_PROFILE_GENERATOR_TRAJECTORY_PROFILE_GENERATOR_SINOID_H