path_cyclic_closed.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_cyclic_closed.h
3 
4  path_cyclic_closed.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 V2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: path_cyclic_closed.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_CYCLIC_CLOSED_H
45 #define KDL_MOTION_PATH_CYCLIC_CLOSED_H
46 
47 #include "frames.hpp"
48 #include "frames_io.hpp"
49 #include "path.hpp"
50 #include <vector>
51 
52 
53 namespace KDL {
54 
60  class Path_Cyclic_Closed : public Path
61  {
62  int times;
64  bool aggregate;
65  public:
66  Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate=true);
67  virtual double LengthToS(double length);
68  virtual double PathLength();
69  virtual Frame Pos(double s) const;
70  virtual Twist Vel(double s,double sd) const;
71  virtual Twist Acc(double s,double sd,double sdd) const;
72 
73  virtual void Write(std::ostream& os);
74  static Path* Read(std::istream& is);
75  virtual Path* Clone();
79  virtual IdentifierType getIdentifier() const {
80  return ID_CYCLIC_CLOSED;
81  }
82  virtual ~Path_Cyclic_Closed();
83  };
84 
85 
86 
87 }
88 
89 
90 #endif
represents both translational and rotational velocities.
Definition: frames.hpp:720
IdentifierType
Definition: path.hpp:61
virtual Frame Pos(double s) const
virtual double LengthToS(double length)
virtual void Write(std::ostream &os)
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
Path_Cyclic_Closed(Path *_geom, int _times, bool _aggregate=true)
virtual Twist Vel(double s, double sd) const
static Path * Read(std::istream &is)
virtual IdentifierType getIdentifier() const
virtual Twist Acc(double s, double sd, double sdd) const


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