path.hpp

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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  path.h
00003 
00004                         path.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.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
00041  *              $Name:  $
00042  ****************************************************************************/
00043 
00044 #ifndef KDL_MOTION_PATH_H
00045 #define KDL_MOTION_PATH_H
00046 
00047 #include "frames.hpp"
00048 
00049 #include <vector>
00050 
00051 #include "frames_io.hpp"
00052 
00053 namespace KDL {
00054 
00058 class Path
00059         {
00060         public:
00061 
00074                 virtual double LengthToS(double length)  = 0;
00075 
00082                 virtual double PathLength() = 0;
00083 
00087                 virtual Frame Pos(double s) const = 0;
00088 
00093                 virtual Twist Vel(double s,double sd) const  = 0;
00094 
00099                 virtual Twist Acc(double s,double sd,double sdd) const  = 0;
00100 
00104                 virtual void Write(std::ostream& os)  = 0;
00105 
00110                 static Path* Read(std::istream& is);
00111 
00116                 virtual Path* Clone() = 0;
00117 
00118                 virtual ~Path() {}
00119         };
00120 
00121 }
00122 
00123 
00124 #endif

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