00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 trajectory.h 00003 00004 trajectory.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: trajectory.h,v 1.1.1.1.2.5 2003/07/23 16:44:25 psoetens Exp $ 00041 * $Name: $ 00042 * \todo 00043 * Peter's remark : should seperate I/O from other routines in the 00044 * motion/chain directories 00045 * The problem is that the I/O uses virtual inheritance to write 00046 * the trajectories/geometries/velocityprofiles/... 00047 * Have no good solution for this, perhaps 00048 * * #ifdef's 00049 * * declaring dummy ostream/istream and change implementation file .cpp 00050 * * declaring some sort of VISITOR object (containing an ostream) , 00051 * the classes contain code to pass this object around along its children 00052 * a subroutine can then be called with overloading. 00053 * PROBLEM : if you declare a friend you have to fully declare it ==> exposing I/O with ostream/istream decl 00054 * CONSEQUENCE : everything has to be declared public. 00055 ****************************************************************************/ 00056 00057 #ifndef TRAJECTORY_H 00058 #define TRAJECTORY_H 00059 00060 #include "frames.hpp" 00061 #include "frames_io.hpp" 00062 #include "path.hpp" 00063 #include "velocityprofile.hpp" 00064 00065 00066 00067 namespace KDL { 00068 00069 00070 00071 00078 class Trajectory 00079 { 00080 public: 00081 virtual Path* GetPath() = 0; 00082 // The underlying Path 00083 00084 virtual VelocityProfile* GetProfile() = 0; 00085 // The velocity profile 00086 00087 virtual double Duration() const = 0; 00088 // The duration of the trajectory 00089 00090 virtual Frame Pos(double time) const = 0; 00091 // Position of the trajectory at <time>. 00092 00093 virtual Twist Vel(double time) const = 0; 00094 // The velocity of the trajectory at <time>. 00095 virtual Twist Acc(double time) const = 0; 00096 // The acceleration of the trajectory at <time>. 00097 00098 virtual Trajectory* Clone() const = 0; 00099 virtual void Write(std::ostream& os) const = 0; 00100 static Trajectory* Read(std::istream& is); 00101 virtual ~Trajectory() {} 00102 // note : you cannot declare this destructor abstract 00103 // it is always called by the descendant's destructor ! 00104 }; 00105 00106 00107 00108 } 00109 00110 00111 #endif
1.6.1