提交依赖与构建产物

2026-06-27 09:25:04 -04:00
parent 2817cba164
commit f0e96308d2
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--- a/kdl_install/include/kdl/trajectory.hpp
+++ b/kdl_install/include/kdl/trajectory.hpp
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+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  trajectory.h
+
+                        trajectory.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                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+/*****************************************************************************
+ *  \author
+ *  	Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *
+ *  \version
+ *		ORO_Geometry V0.2
+ *
+ *	\par History
+ *		- $log$
+ *
+ *	\par Release
+ *		$Id: trajectory.h,v 1.1.1.1.2.5 2003/07/23 16:44:25 psoetens Exp $
+ *		$Name:  $
+ *  \todo
+ *     Peter's remark : should separate I/O from other routines in the
+ *     motion/chain directories
+ *     The problem is that the I/O uses virtual inheritance to write
+ *     the trajectories/geometries/velocityprofiles/...
+ *     Have no good solution for this, perhaps
+ *          * #ifdef's
+ *          * declaring dummy ostream/istream and change implementation file .cpp
+ *          * declaring some sort of VISITOR object (containing an ostream) ,
+ *            the classes contain code to pass this object around along its children
+ *            a subroutine can then be called with overloading.
+ *     PROBLEM : if you declare a friend you have to fully declare it  ==> exposing I/O with ostream/istream decl
+ *     CONSEQUENCE : everything has to be declared public.
+ ****************************************************************************/
+
+#ifndef TRAJECTORY_H
+#define TRAJECTORY_H
+
+#include "frames.hpp"
+#include "frames_io.hpp"
+#include "path.hpp"
+#include "velocityprofile.hpp"
+
+
+
+namespace KDL {
+
+
+
+
+	/**
+	 * An abstract class that implements
+	 * a trajectory contains a cartesian space trajectory and an underlying
+	 * velocity profile.
+	  * @ingroup Motion
+	 */
+	class Trajectory
+	{
+	public:
+		virtual double Duration() const = 0;
+		// The duration of the trajectory
+
+		virtual Frame Pos(double time) const = 0;
+		// Position of the trajectory at <time>.
+
+		virtual Twist Vel(double time) const = 0;
+		// The velocity of the trajectory at <time>.
+		virtual Twist Acc(double time) const = 0;
+		// The acceleration of the trajectory at <time>.
+
+		virtual Trajectory* Clone() const = 0;
+		virtual void Write(std::ostream& os) const = 0;
+		static Trajectory* Read(std::istream& is);
+		virtual ~Trajectory() {}
+		// note : you cannot declare this destructor abstract
+		// it is always called by the descendant's destructor !
+	};
+
+
+
+}
+
+
+#endif