SpecifiedTrajectory.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * SpecifiedTrajectory.h
00020  *
00021  *  Created on: 12.12.2010
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef SPECIFIEDTRAJECTORY_H_
00026 #define SPECIFIEDTRAJECTORY_H_
00027 
00028 namespace katana
00029 {
00030 // coef[0] + coef[1]*t + coef[2]*t^2 + coef[3]*t^3
00031 struct Spline
00032 {
00033   std::vector<double> coef;
00034   double target_position;
00035 
00036   Spline() :
00037     coef(4, 0.0), target_position(0.0)
00038   {
00039   }
00040 };
00041 
00042 struct Segment
00043 {
00044   double start_time;
00045   double duration;
00046   std::vector<Spline> splines;
00047 };
00048 typedef std::vector<Segment> SpecifiedTrajectory;
00049 
00050 }
00051 
00052 #endif /* SPECIFIEDTRAJECTORY_H_ */
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katana
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:54:05