00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2010 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * SpecifiedTrajectory.h 00020 * 00021 * Created on: 12.12.2010 00022 * Author: Martin Günther <mguenthe@uos.de> 00023 */ 00024 00025 #ifndef SPECIFIEDTRAJECTORY_H_ 00026 #define SPECIFIEDTRAJECTORY_H_ 00027 00028 namespace katana 00029 { 00030 // coef[0] + coef[1]*t + coef[2]*t^2 + coef[3]*t^3 00031 struct Spline 00032 { 00033 std::vector<double> coef; 00034 double target_position; 00035 00036 Spline() : 00037 coef(4, 0.0), target_position(0.0) 00038 { 00039 } 00040 }; 00041 00042 struct Segment 00043 { 00044 double start_time; 00045 double duration; 00046 std::vector<Spline> splines; 00047 }; 00048 typedef std::vector<Segment> SpecifiedTrajectory; 00049 00050 } 00051 00052 #endif /* SPECIFIEDTRAJECTORY_H_ */
