path_composite.hpp

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

                        path_composite.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_composite.h,v 1.1.1.1.2.5 2003/07/24 13:49:16 rwaarsin Exp $
 *      $Name:  $
 ****************************************************************************/

#ifndef KDL_PATHCOMPOSITE_H
#define KDL_PATHCOMPOSITE_H

#include "frames.hpp"
#include "frames_io.hpp"
#include "path.hpp"
#include <vector>

namespace KDL {

     class Path_Composite : public Path
    {
        typedef std::vector< std::pair<Path*,bool> > PathVector;
        typedef std::vector<double>    DoubleVector;

        PathVector gv;
        DoubleVector   dv;
        double pathlength;

        // lookup mechanism :
        mutable double cached_starts;
        mutable double cached_ends;
        mutable int    cached_index;
        double Lookup(double s) const;
    public:


        Path_Composite();

        void Add(Path* geom, bool aggregate=true);


        virtual double LengthToS(double length);
        virtual double PathLength();

        virtual Frame Pos(double s) const;

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

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

        virtual Path* Clone();

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

        virtual int GetNrOfSegments();

        virtual Path* GetSegment(int i);

        virtual double GetLengthToEndOfSegment(int i);

        virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);

        virtual IdentifierType getIdentifier() const {
            return ID_COMPOSITE;
        }

        virtual ~Path_Composite();
    };



}


#endif