path.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h
3 
4  path.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 
29  /*****************************************************************************
30  * \author
31  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32  *
33  * \version
34  * ORO_Geometry V0.2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef KDL_MOTION_PATH_H
45 #define KDL_MOTION_PATH_H
46 
47 #include "frames.hpp"
48 
49 #include <vector>
50 
51 #include "frames_io.hpp"
52 
53 namespace KDL {
54 
58 class Path
59  {
60  public:
68  };
81  virtual double LengthToS(double length) = 0;
82 
89  virtual double PathLength() = 0;
90 
94  virtual Frame Pos(double s) const = 0;
95 
100  virtual Twist Vel(double s,double sd) const = 0;
101 
106  virtual Twist Acc(double s,double sd,double sdd) const = 0;
107 
111  virtual void Write(std::ostream& os) = 0;
112 
117  static Path* Read(std::istream& is);
118 
123  virtual Path* Clone() = 0;
124 
128  virtual IdentifierType getIdentifier() const=0;
129 
130  virtual ~Path() {}
131  };
132 
133 }
134 
135 
136 #endif
virtual double LengthToS(double length)=0
virtual Path * Clone()=0
static Path * Read(std::istream &is)
Definition: path.cpp:62
virtual Twist Acc(double s, double sd, double sdd) const =0
virtual Frame Pos(double s) const =0
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual Twist Vel(double s, double sd) const =0
virtual void Write(std::ostream &os)=0
virtual ~Path()
Definition: path.hpp:130
IdentifierType
Definition: path.hpp:61
virtual IdentifierType getIdentifier() const =0
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual double PathLength()=0


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51