path_roundedcomposite.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  path_roundedcomposite.h
00003 
00004                         path_roundedcomposite.h -  description
00005                            -------------------
00006     begin                : Mon January 10 2005
00007     copyright            : (C) 2005 Erwin Aertbelien
00008     email                : erwin.aertbelien@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029  /*****************************************************************************
00030  *  \author
00031  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00032  *
00033  *  \version
00034  *              ORO_Geometry V0.2
00035  *
00036  *      \par History
00037  *              - $log$
00038  *
00039  *      \par Release
00040  *              $Id: path_roundedcomposite.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
00041  *              $Name:  $
00042  ****************************************************************************/
00043 
00044 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
00045 #define KDL_MOTION_ROUNDEDCOMPOSITE_H
00046 
00047 #include "path.hpp"
00048 #include "path_composite.hpp"
00049 #include "rotational_interpolation.hpp"
00050 
00051 namespace KDL {
00052 
00058 class Path_RoundedComposite : public Path
00059         {
00063                 Path_Composite* comp;
00064 
00065 
00066                 double radius;
00067                 double eqradius;
00068                 RotationalInterpolation* orient;
00069                 // cached from underlying path objects for generating the rounding :
00070                 Frame F_base_start;
00071                 Frame F_base_via;
00072                 //Frame F_base_end;
00073                 int nrofpoints;
00074 
00075                 bool aggregate;
00076 
00077                 Path_RoundedComposite(Path_Composite* comp,double radius,double eqradius,RotationalInterpolation* orient, bool aggregate, int nrofpoints);
00078 
00079         public:
00080 
00088                 Path_RoundedComposite(double radius,double eqradius,RotationalInterpolation* orient, bool aggregate=true);
00089 
00109                 void Add(const Frame& F_base_point);
00110 
00115                 void Finish();
00116 
00117 
00118                 virtual double LengthToS(double length);
00119 
00126                 virtual double PathLength();
00127 
00128 
00132                 virtual Frame Pos(double s) const;
00133 
00138                 virtual Twist Vel(double s,double sd) const;
00139 
00144                 virtual Twist Acc(double s,double sd,double sdd) const;
00145 
00151                 virtual Path* Clone();
00152 
00156                 virtual void Write(std::ostream& os);
00157 
00161                 virtual int GetNrOfSegments();
00162 
00170                 virtual Path* GetSegment(int i);
00171 
00178                 virtual double GetLengthToEndOfSegment(int i);
00179 
00185                 virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);
00186 
00190                 virtual IdentifierType getIdentifier() const {
00191                         return ID_ROUNDED_COMPOSITE;
00192                 }
00193 
00194 
00195                 virtual ~Path_RoundedComposite();
00196         };
00197 
00198 
00199 
00200 }
00201 
00202 
00203 #endif


orocos_kdl
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autogenerated on Mon Oct 6 2014 03:11:16