139 lines
5.2 KiB
C++
139 lines
5.2 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_line.h
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path_line.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* ALTERNATIVE FOR trajectory_line.h/cpp
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: path_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_MOTION_PATH_LINE_H
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#define KDL_MOTION_PATH_LINE_H
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#include "path.hpp"
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#include "rotational_interpolation.hpp"
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namespace KDL {
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/**
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* A path representing a line from A to B.
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* @ingroup Motion
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*/
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class Path_Line : public Path
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{
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// Orientatie gedeelte
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RotationalInterpolation* orient;
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// Lineair gedeelte
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Vector V_base_start;
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Vector V_base_end;
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Vector V_start_end;
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double eqradius; // equivalent radius
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// verdeling baanlengte over pos/rot
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double pathlength;
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double scalelin;
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double scalerot;
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bool aggregate;
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public:
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/**
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* Constructs a Line Path
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* F_base_start and F_base_end give the begin and end frame wrt the base
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* orient gives the method of rotation interpolation
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* eqradius : equivalent radius :
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* serves to compare rotations and translations.
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* the "amount of motion"(pos,vel,acc) of the rotation is taken
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* to be the amount motion of a point at distance eqradius from the
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* rotation axis.
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*
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* Eqradius is introduced because it is unavoidable that you have to compare rotations and translations :
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* e.g. : You can have motions that only contain rotation, and motions that only contain translations.
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* The motion planning goes as follows :
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* - translation is planned with the given parameters
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* - rotation is planned planned with the parameters calculated with eqradius.
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* - The longest of the previous two remains unchanged,
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* the shortest in duration is scaled to take as long as the longest.
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* This guarantees that the geometric path in 6D space remains independent of the motion profile parameters.
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*
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* RotationalInterpolation_SingleAxis() has the advantage that it is independent
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* of the frame in which you express your path.
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* Other implementations for RotationalInterpolations COULD be
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* (not implemented) (yet) :
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* 1) quaternion interpolation : but this is more difficult for the human to interpret
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* 2) 3-axis interpolation : express the orientation of the frame in e.g.
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* euler zyx angles alfa,beta, gamma and interpolate these parameters.
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* But this is dependent of the frame you choose as a reference and
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* their can occur representation singularities.
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*/
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Path_Line(const Frame& F_base_start,
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const Frame& F_base_end,
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RotationalInterpolation* orient,
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double eqradius,
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bool _aggregate=true);
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Path_Line(const Frame& F_base_start,
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const Twist& twist_in_base,
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RotationalInterpolation* orient,
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double eqradius,
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bool _aggregate=true);
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double LengthToS(double length);
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virtual double PathLength();
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virtual Frame Pos(double s) const;
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virtual Twist Vel(double s,double sd) const ;
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virtual Twist Acc(double s,double sd,double sdd) const;
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virtual void Write(std::ostream& os);
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virtual Path* Clone();
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/**
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* gets an identifier indicating the type of this Path object
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*/
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virtual IdentifierType getIdentifier() const {
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return ID_LINE;
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}
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virtual ~Path_Line();
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};
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}
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#endif
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