path_composite.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_composite.h
3 
4  path_composite.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_composite.h,v 1.1.1.1.2.5 2003/07/24 13:49:16 rwaarsin Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef KDL_PATHCOMPOSITE_H
45 #define KDL_PATHCOMPOSITE_H
46 
47 #include "frames.hpp"
48 #include "frames_io.hpp"
49 #include "path.hpp"
50 #include <vector>
51 
52 namespace KDL {
53 
69  class Path_Composite : public Path
70  {
71  typedef std::vector< std::pair<Path*,bool> > PathVector;
72  typedef std::vector<double> DoubleVector;
73 
74  PathVector gv;
75  DoubleVector dv;
76  double pathlength;
77 
78  // lookup mechanism :
79  mutable double cached_starts;
80  mutable double cached_ends;
81  mutable int cached_index;
82  double Lookup(double s) const;
83  public:
84 
85 
87 
91  void Add(Path* geom, bool aggregate=true);
92 
93 
94  virtual double LengthToS(double length);
101  virtual double PathLength();
102 
106  virtual Frame Pos(double s) const;
107 
112  virtual Twist Vel(double s,double sd) const;
113 
118  virtual Twist Acc(double s,double sd,double sdd) const;
119 
120  virtual Path* Clone();
121 
125  virtual void Write(std::ostream& os);
126 
130  virtual int GetNrOfSegments();
131 
139  virtual Path* GetSegment(int i);
140 
147  virtual double GetLengthToEndOfSegment(int i);
148 
154  virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);
155 
159  virtual IdentifierType getIdentifier() const {
160  return ID_COMPOSITE;
161  }
162 
163  virtual ~Path_Composite();
164  };
165 
166 
167 
168 }
169 
170 
171 #endif
void Add(Path *geom, bool aggregate=true)
std::vector< std::pair< Path *, bool > > PathVector
virtual double PathLength()
virtual Path * GetSegment(int i)
std::vector< double > DoubleVector
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os)
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual IdentifierType getIdentifier() const
virtual Frame Pos(double s) const
IdentifierType
Definition: path.hpp:61
virtual Twist Vel(double s, double sd) const
virtual int GetNrOfSegments()
virtual Path * Clone()
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual double GetLengthToEndOfSegment(int i)
virtual double LengthToS(double length)
virtual Twist Acc(double s, double sd, double sdd) const
double Lookup(double s) const


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