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KDL/install/include/kdl/path_line.hpp

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+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  path_line.h
+
+                        path_line.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_line.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_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
+ *		$Name:  $
+ ****************************************************************************/
+
+#ifndef KDL_MOTION_PATH_LINE_H
+#define KDL_MOTION_PATH_LINE_H
+
+#include "path.hpp"
+#include "rotational_interpolation.hpp"
+
+
+namespace KDL {
+
+
+	/**
+	 * A path representing a line from A to B.
+	 * @ingroup Motion
+	 */
+class Path_Line : public Path
+	{
+		// Orientatie gedeelte
+		RotationalInterpolation* orient;
+
+		// Lineair gedeelte
+		Vector V_base_start;
+		Vector V_base_end;
+		Vector V_start_end;
+
+		double eqradius;  // equivalent radius
+
+		// verdeling baanlengte over pos/rot
+		double pathlength;
+		double scalelin;
+		double scalerot;
+
+		bool aggregate;
+	public:
+		/**
+		 * Constructs a Line Path
+		 * F_base_start and F_base_end give the begin and end frame wrt the base
+		 * orient gives the method of rotation interpolation
+		 * eqradius : equivalent radius :
+		 *		serves to compare rotations and translations.
+		 *		the "amount of motion"(pos,vel,acc) of the rotation is taken
+		 *      to be the amount motion of a point at distance eqradius from the
+		 *      rotation axis.
+         *
+         * Eqradius is introduced because it is unavoidable that you have to compare rotations and translations :
+         * e.g. : You can have motions that only contain rotation, and motions that only contain translations.
+         * The motion planning goes as follows :
+         *  - translation is planned with the given parameters
+         *  - rotation is planned planned with the parameters calculated with eqradius.
+         *  - The longest of the previous two remains unchanged,
+         *    the shortest in duration is scaled to take as long as the longest.
+         * This guarantees that the geometric path in 6D space remains independent of the motion profile parameters.
+         *
+         * RotationalInterpolation_SingleAxis() has the advantage that it is independent
+         * of the frame in which you express your path.
+         * Other implementations for RotationalInterpolations COULD be
+         *    (not implemented) (yet) :
+         *    1) quaternion interpolation : but this is more difficult for the human to interpret
+         *    2) 3-axis interpolation : express the orientation of the frame in e.g.
+         *       euler zyx angles alfa,beta, gamma  and interpolate these parameters.
+         *       But this is dependent of the frame you choose as a reference and
+         *       their can occur representation singularities.
+		 */
+		Path_Line(const Frame& F_base_start,
+			const Frame& F_base_end,
+			RotationalInterpolation* orient,
+			double eqradius,
+			bool _aggregate=true);
+		Path_Line(const Frame& F_base_start,
+			const Twist& twist_in_base,
+			RotationalInterpolation* orient,
+			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 void Write(std::ostream& os);
+		virtual Path* Clone();
+
+		/**
+		 * gets an identifier indicating the type of this Path object
+		 */
+		virtual IdentifierType getIdentifier() const {
+			return ID_LINE;
+		}
+		virtual ~Path_Line();
+	};
+
+
+}
+
+
+#endif