path_roundedcomposite.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_roundedcomposite.h
3 
4  path_roundedcomposite.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 
29  /*****************************************************************************
30  * \author
31  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32  *
33  * \version
34  * ORO_Geometry V0.2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: path_roundedcomposite.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
45 #define KDL_MOTION_ROUNDEDCOMPOSITE_H
46 
47 #include "path.hpp"
48 #include "path_composite.hpp"
50 
51 namespace KDL {
52 
59  {
64 
65 
66  double radius;
67  double eqradius;
69  // cached from underlying path objects for generating the rounding :
72  //Frame F_base_end;
74 
75  bool aggregate;
76 
77  Path_RoundedComposite(Path_Composite* comp,double radius,double eqradius,RotationalInterpolation* orient, bool aggregate, int nrofpoints);
78 
79  public:
80 
88  Path_RoundedComposite(double radius,double eqradius,RotationalInterpolation* orient, bool aggregate=true);
89 
109  void Add(const Frame& F_base_point);
110 
115  void Finish();
116 
117 
118  virtual double LengthToS(double length);
119 
126  virtual double PathLength();
127 
128 
132  virtual Frame Pos(double s) const;
133 
138  virtual Twist Vel(double s,double sd) const;
139 
144  virtual Twist Acc(double s,double sd,double sdd) const;
145 
151  virtual Path* Clone();
152 
156  virtual void Write(std::ostream& os);
157 
161  virtual int GetNrOfSegments();
162 
170  virtual Path* GetSegment(int i);
171 
178  virtual double GetLengthToEndOfSegment(int i);
179 
185  virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);
186 
190  virtual IdentifierType getIdentifier() const {
191  return ID_ROUNDED_COMPOSITE;
192  }
193 
194 
195  virtual ~Path_RoundedComposite();
196  };
197 
198 
199 
200 }
201 
202 
203 #endif
virtual IdentifierType getIdentifier() const
void Add(const Frame &F_base_point)
virtual double LengthToS(double length)
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual Twist Acc(double s, double sd, double sdd) const
Path_RoundedComposite(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)
virtual Twist Vel(double s, double sd) const
IdentifierType
Definition: path.hpp:61
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual void Write(std::ostream &os)
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual Frame Pos(double s) const
RotationalInterpolation * orient
virtual double GetLengthToEndOfSegment(int i)


orocos_kdl
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autogenerated on Sun Nov 22 2020 03:16:43