path_circle.hpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  path_circle.h

                        path_circle.h -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


/*****************************************************************************
*   ALTERNATIVE FOR trajectory_circle.h/cpp
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *      ORO_Geometry V0.2
 *
 *  \par History
 *      - $log$
 *
 *  \par Release
 *      $Id: path_circle.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
 *      $Name:  $
 ****************************************************************************/

#ifndef KDL_MOTION_PATHCIRCLE_H
#define KDL_MOTION_PATHCIRCLE_H

#include "path.hpp"
#include "rotational_interpolation.hpp"


namespace KDL {


class Path_Circle : public Path
    {

        // Orientatie gedeelte
        RotationalInterpolation* orient;

        // Circular gedeelte
        double radius;
        Frame  F_base_center;

        // equivalent radius
        double eqradius;

        // verdeling baanlengte over pos/rot
        double pathlength;
        double scalelin;
        double scalerot;

        bool aggregate;

    public:

        Path_Circle(const Frame& F_base_start,const Vector& V_base_center,
            const Vector& V_base_p,
            const Rotation& R_base_end,
            double alpha,
            RotationalInterpolation* otraj,
            double eqradius,
            bool _aggregate=true);

        double LengthToS(double length);

        virtual double PathLength();
        virtual Frame Pos(double s) const;
        virtual Twist Vel(double s,double sd) const;
        virtual Twist Acc(double s,double sd,double sdd) const;
        virtual Path* Clone();
        virtual void Write(std::ostream& os);

        virtual IdentifierType getIdentifier() const {
            return ID_CIRCLE;
        }

        virtual ~Path_Circle();
    };


}


#endif