path_roundedcomposite.hpp

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

                        path_roundedcomposite.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_roundedcomposite.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
 *      $Name:  $
 ****************************************************************************/

#ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
#define KDL_MOTION_ROUNDEDCOMPOSITE_H

#include "path.hpp"
#include "path_composite.hpp"
#include "rotational_interpolation.hpp"

namespace KDL {

class Path_RoundedComposite : public Path
    {
        Path_Composite* comp;


        double radius;
        double eqradius;
        RotationalInterpolation* orient;
        // cached from underlying path objects for generating the rounding :
        Frame F_base_start;
        Frame F_base_via;
        //Frame F_base_end;
        int nrofpoints;

        bool aggregate;

        Path_RoundedComposite(Path_Composite* comp,double radius,double eqradius,RotationalInterpolation* orient, bool aggregate, int nrofpoints);

    public:

        Path_RoundedComposite(double radius,double eqradius,RotationalInterpolation* orient, bool aggregate=true);

        void Add(const Frame& F_base_point);

        void Finish();


        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_ROUNDED_COMPOSITE;
        }


        virtual ~Path_RoundedComposite();
    };



}


#endif