path_line.hpp
Go to the documentation of this file.
1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_line.h
3 
4  path_line.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 * ALTERNATIVE FOR trajectory_line.h/cpp
31  * \author
32  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
33  *
34  * \version
35  * ORO_Geometry V0.2
36  *
37  * \par History
38  * - $log$
39  *
40  * \par Release
41  * $Id: path_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
42  * $Name: $
43  ****************************************************************************/
44 
45 #ifndef KDL_MOTION_PATH_LINE_H
46 #define KDL_MOTION_PATH_LINE_H
47 
48 #include "path.hpp"
50 
51 
52 namespace KDL {
53 
54 
59 class Path_Line : public Path
60  {
61  // Orientatie gedeelte
63 
64  // Lineair gedeelte
68 
69  double eqradius; // equivalent radius
70 
71  // verdeling baanlengte over pos/rot
72  double pathlength;
73  double scalelin;
74  double scalerot;
75 
76  bool aggregate;
77  public:
107  Path_Line(const Frame& F_base_start,
108  const Frame& F_base_end,
109  RotationalInterpolation* orient,
110  double eqradius,
111  bool _aggregate=true);
112  Path_Line(const Frame& F_base_start,
113  const Twist& twist_in_base,
114  RotationalInterpolation* orient,
115  double eqradius,
116  bool _aggregate=true);
117  double LengthToS(double length);
118  virtual double PathLength();
119  virtual Frame Pos(double s) const;
120  virtual Twist Vel(double s,double sd) const ;
121  virtual Twist Acc(double s,double sd,double sdd) const;
122  virtual void Write(std::ostream& os);
123  virtual Path* Clone();
124 
128  virtual IdentifierType getIdentifier() const {
129  return ID_LINE;
130  }
131  virtual ~Path_Line();
132  };
133 
134 
135 }
136 
137 
138 #endif
double scalerot
Definition: path_line.hpp:74
Vector V_start_end
Definition: path_line.hpp:67
Vector V_base_end
Definition: path_line.hpp:66
virtual Frame Pos(double s) const
Definition: path_line.cpp:135
Vector V_base_start
Definition: path_line.hpp:65
Path_Line(const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)
Definition: path_line.cpp:47
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os)
Definition: path_line.cpp:173
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
double LengthToS(double length)
Definition: path_line.cpp:129
virtual IdentifierType getIdentifier() const
Definition: path_line.hpp:128
virtual Twist Acc(double s, double sd, double sdd) const
Definition: path_line.cpp:143
virtual Path * Clone()
Definition: path_line.cpp:153
virtual double PathLength()
Definition: path_line.cpp:132
IdentifierType
Definition: path.hpp:61
double pathlength
Definition: path_line.hpp:72
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual ~Path_Line()
Definition: path_line.cpp:148
RotationalInterpolation * orient
Definition: path_line.hpp:62
double eqradius
Definition: path_line.hpp:69
virtual Twist Vel(double s, double sd) const
Definition: path_line.cpp:139
double scalelin
Definition: path_line.hpp:73


orocos_kdl
Author(s):
autogenerated on Tue Sep 1 2020 03:18:51