00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_line.h 00003 00004 path_line.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 * ALTERNATIVE FOR trajectory_line.h/cpp 00031 * \author 00032 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00033 * 00034 * \version 00035 * ORO_Geometry V0.2 00036 * 00037 * \par History 00038 * - $log$ 00039 * 00040 * \par Release 00041 * $Id: path_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $ 00042 * $Name: $ 00043 ****************************************************************************/ 00044 00045 #ifndef KDL_MOTION_PATH_LINE_H 00046 #define KDL_MOTION_PATH_LINE_H 00047 00048 #include "path.hpp" 00049 #include "rotational_interpolation.hpp" 00050 00051 00052 namespace KDL { 00053 00054 00059 class Path_Line : public Path 00060 { 00061 // Orientatie gedeelte 00062 RotationalInterpolation* orient; 00063 00064 // Lineair gedeelte 00065 Vector V_base_start; 00066 Vector V_base_end; 00067 Vector V_start_end; 00068 00069 double eqradius; // equivalent radius 00070 00071 // verdeling baanlengte over pos/rot 00072 double pathlength; 00073 double scalelin; 00074 double scalerot; 00075 00076 bool aggregate; 00077 public: 00107 Path_Line(const Frame& F_base_start, 00108 const Frame& F_base_end, 00109 RotationalInterpolation* orient, 00110 double eqradius, 00111 bool _aggregate=true); 00112 Path_Line(const Frame& F_base_start, 00113 const Twist& twist_in_base, 00114 RotationalInterpolation* orient, 00115 double eqradius, 00116 bool _aggregate=true); 00117 double LengthToS(double length); 00118 virtual double PathLength(); 00119 virtual Frame Pos(double s) const; 00120 virtual Twist Vel(double s,double sd) const ; 00121 virtual Twist Acc(double s,double sd,double sdd) const; 00122 virtual void Write(std::ostream& os); 00123 virtual Path* Clone(); 00124 virtual ~Path_Line(); 00125 }; 00126 00127 00128 } 00129 00130 00131 #endif
1.6.1