00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile.h 00003 00004 velocityprofile.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 * 00031 * \author 00032 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00033 * 00034 * \version 00035 * ORO_Geometry V0.2 00036 * 00037 * \par History 00038 * - $log$ 00039 * 00040 * \par Release 00041 * $Id: velocityprofile.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $ 00042 * $Name: $ 00043 ****************************************************************************/ 00044 00045 #ifndef KDL_VELOCITYPROFILE_H 00046 #define KDL_VELOCITYPROFILE_H 00047 00048 #include "utilities/utility.h" 00049 #include "utilities/utility_io.h" 00050 00051 00052 namespace KDL { 00053 00054 00062 class VelocityProfile 00063 { 00064 public: 00065 // trajectory parameters are set in constructor of 00066 // derived class 00067 00068 virtual void SetProfile(double pos1,double pos2) = 0; 00069 // sets a trajectory from pos1 to pos2 as fast as possible 00070 00071 virtual void SetProfileDuration( 00072 double pos1,double pos2,double duration) = 0; 00073 // Sets a trajectory from pos1 to pos2 in <duration> seconds. 00074 // @post new.Duration() will not be shorter than the one obtained 00075 // from SetProfile(pos1,pos2). 00076 00077 00078 virtual double Duration() const = 0; 00079 // returns the duration of the motion in [sec] 00080 00081 virtual double Pos(double time) const = 0; 00082 // returns the position at <time> in the units of the input 00083 // of the constructor of the derived class. 00084 00085 virtual double Vel(double time) const = 0; 00086 // returns the velocity at <time> in the units of the input 00087 // of the constructor of the derived class. 00088 00089 virtual double Acc(double time) const = 0; 00090 // returns the acceleration at <time> in the units of the input 00091 // of the constructor of the derived class. 00092 00093 virtual void Write(std::ostream& os) const = 0; 00094 // Writes object to a stream. 00095 00096 static VelocityProfile* Read(std::istream& is); 00097 // reads a VelocityProfile object from the stream and returns it. 00098 00099 virtual VelocityProfile* Clone() const = 0; 00100 // returns copy of current VelocityProfile object. (virtual constructor) 00101 00102 virtual ~VelocityProfile() {} 00103 }; 00104 } 00105 00106 00107 #endif