path_circle.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  path_circle.h
00003 
00004                         path_circle.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 *   ALTERNATIVE FOR trajectory_circle.h/cpp
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: path_circle.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
00042  *              $Name:  $
00043  ****************************************************************************/
00044 
00045 #ifndef KDL_MOTION_PATHCIRCLE_H
00046 #define KDL_MOTION_PATHCIRCLE_H
00047 
00048 #include "path.hpp"
00049 #include "rotational_interpolation.hpp"
00050 
00051 
00052 namespace KDL {
00053 
00054 
00060 class Path_Circle : public Path
00061         {
00062 
00063                 // Orientatie gedeelte
00064                 RotationalInterpolation* orient;
00065 
00066                 // Circular gedeelte
00067                 double radius;
00068                 Frame  F_base_center;
00069 
00070                 // equivalent radius
00071                 double eqradius;
00072 
00073                 // verdeling baanlengte over pos/rot
00074                 double pathlength;
00075                 double scalelin;
00076                 double scalerot;
00077 
00078                 bool aggregate;
00079 
00080         public:
00081 
00087                 Path_Circle(const Frame& F_base_start,const Vector& V_base_center,
00088                         const Vector& V_base_p,
00089                         const Rotation& R_base_end,
00090                         double alpha,
00091                         RotationalInterpolation* otraj,
00092                         double eqradius,
00093                         bool _aggregate=true);
00094 
00095                 double LengthToS(double length);
00096 
00097                 virtual double PathLength();
00098                 virtual Frame Pos(double s) const;
00099                 virtual Twist Vel(double s,double sd) const;
00100                 virtual Twist Acc(double s,double sd,double sdd) const;
00101                 virtual Path* Clone();
00102                 virtual void Write(std::ostream& os);
00103 
00107                 virtual IdentifierType getIdentifier() const {
00108                         return ID_CIRCLE;
00109                 }
00110 
00111                 virtual ~Path_Circle();
00112         };
00113 
00114 
00115 }
00116 
00117 
00118 #endif


orocos_kdl
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autogenerated on Mon Oct 6 2014 03:11:16