path.hpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  path.h

                        path.h -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


 /*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/

#ifndef KDL_MOTION_PATH_H
#define KDL_MOTION_PATH_H

#include "frames.hpp"

#include <vector>

#include "frames_io.hpp"

namespace KDL {

class Path
        {
        public:
                enum IdentifierType {
                        ID_LINE=1,
                        ID_CIRCLE=2,
                        ID_COMPOSITE=3,
                        ID_ROUNDED_COMPOSITE=4,
                        ID_POINT=5,
                        ID_CYCLIC_CLOSED=6
                };
                virtual double LengthToS(double length)  = 0;

                virtual double PathLength() = 0;

                virtual Frame Pos(double s) const = 0;

                virtual Twist Vel(double s,double sd) const  = 0;

                virtual Twist Acc(double s,double sd,double sdd) const  = 0;

                virtual void Write(std::ostream& os)  = 0;

                static Path* Read(std::istream& is);

                virtual Path* Clone() = 0;

                virtual IdentifierType getIdentifier() const=0;

                virtual ~Path() {}
        };

}


#endif