00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_cyclic_closed.h 00003 00004 path_cyclic_closed.h - description 00005 ------------------- 00006 begin : Mon January 10 2005 00007 copyright : (C) 2005 Erwin Aertbelien 00008 email : erwin.aertbelien@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 00029 /***************************************************************************** 00030 * \author 00031 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00032 * 00033 * \version 00034 * ORO_Geometry V2 00035 * 00036 * \par History 00037 * - $log$ 00038 * 00039 * \par Release 00040 * $Id: path_cyclic_closed.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $ 00041 * $Name: $ 00042 ****************************************************************************/ 00043 00044 #ifndef KDL_MOTION_PATH_CYCLIC_CLOSED_H 00045 #define KDL_MOTION_PATH_CYCLIC_CLOSED_H 00046 00047 #include "frames.hpp" 00048 #include "frames_io.hpp" 00049 #include "path.hpp" 00050 #include <vector> 00051 00052 00053 namespace KDL { 00054 00060 class Path_Cyclic_Closed : public Path 00061 { 00062 int times; 00063 Path* geom; 00064 bool aggregate; 00065 public: 00066 Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate=true); 00067 virtual double LengthToS(double length); 00068 virtual double PathLength(); 00069 virtual Frame Pos(double s) const; 00070 virtual Twist Vel(double s,double sd) const; 00071 virtual Twist Acc(double s,double sd,double sdd) const; 00072 00073 virtual void Write(std::ostream& os); 00074 static Path* Read(std::istream& is); 00075 virtual Path* Clone(); 00079 virtual IdentifierType getIdentifier() const { 00080 return ID_CYCLIC_CLOSED; 00081 } 00082 virtual ~Path_Cyclic_Closed(); 00083 }; 00084 00085 00086 00087 } 00088 00089 00090 #endif