Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/KDL/install/include/kdl/path_circle.hpp
+++ b/KDL/install/include/kdl/path_circle.hpp
@@ -0,0 +1,118 @@
+/***************************************************************************
+  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 {
+
+
+	/**
+	 * A circular Path with 'open ends'. Path_Arc would
+	 * have been a better name though.
+	 * @ingroup Motion
+	 */
+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:
+
+		/**
+		 *
+		 * CAN THROW Error_MotionPlanning_Circle_ToSmall
+		 * CAN THROW Error_MotionPlanning_Circle_No_Plane
+		 */
+		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);
+
+		/**
+		 * gets an identifier indicating the type of this Path object
+		 */
+		virtual IdentifierType getIdentifier() const {
+			return ID_CIRCLE;
+		}
+
+		virtual ~Path_Circle();
+	};
+
+
+}
+
+
+#endif