00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_point.h 00003 00004 path_point.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_stationary.h/cpp 00031 * \author 00032 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00033 * 00034 * \version 00035 00036 * ORO_Geometry V0.2 00037 * 00038 * \par History 00039 * - $log$ 00040 * 00041 * \par Release 00042 * $Id: path_point.h,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $ 00043 * $Name: $ 00044 ****************************************************************************/ 00045 00046 #ifndef KDL_MOTION_PATH_POINT_H 00047 #define KDL_MOTION_PATH_POINT_H 00048 00049 #include "path.hpp" 00050 #include "rotational_interpolation.hpp" 00051 00052 00053 namespace KDL { 00054 00055 00056 00061 class Path_Point : public Path 00062 { 00063 Frame F_base_start; 00064 public: 00068 Path_Point(const Frame& F_base_start); 00069 double LengthToS(double length); 00070 virtual double PathLength(); 00071 virtual Frame Pos(double s) const; 00072 virtual Twist Vel(double s,double sd) const ; 00073 virtual Twist Acc(double s,double sd,double sdd) const; 00074 virtual void Write(std::ostream& os); 00075 virtual Path* Clone(); 00076 00080 virtual IdentifierType getIdentifier() const { 00081 return ID_POINT; 00082 } 00083 virtual ~Path_Point(); 00084 }; 00085 00086 } 00087 00088 00089 #endif