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