path_cyclic_closed.hpp
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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


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14