velocityprofile.hpp

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

                        velocityprofile.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: velocityprofile.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
 *      $Name:  $
 ****************************************************************************/

#ifndef KDL_VELOCITYPROFILE_H
#define KDL_VELOCITYPROFILE_H

#include "utilities/utility.h"
#include "utilities/utility_io.h"


namespace KDL {


class VelocityProfile
    {
    public:
        // trajectory parameters are set in constructor of
        // derived class

        virtual void SetProfile(double pos1,double pos2) = 0;
        // sets a trajectory from pos1 to pos2 as fast as possible

        virtual void SetProfileDuration(
            double pos1,double pos2,double duration) = 0;
        // Sets a trajectory from pos1 to pos2 in <duration> seconds.
        // @post new.Duration() will not be shorter than the one obtained
        //       from SetProfile(pos1,pos2).


        virtual double Duration() const = 0;
        // returns the duration of the motion in [sec]

        virtual double Pos(double time) const = 0;
        // returns the position at <time> in the units of the input
        // of the constructor of the derived class.

        virtual double Vel(double time) const = 0;
        // returns the velocity at <time> in the units of the input
        // of the constructor of the derived class.

        virtual double Acc(double time) const = 0;
        // returns the acceleration at <time> in the units of the input
        // of the constructor of the derived class.

        virtual void Write(std::ostream& os) const = 0;
        // Writes object to a stream.

        static VelocityProfile* Read(std::istream& is);
        // reads a VelocityProfile object from the stream and returns it.

        virtual VelocityProfile* Clone() const = 0;
        // returns copy of current VelocityProfile object. (virtual constructor)

        virtual ~VelocityProfile() {}
    };
}


#endif