119 lines
3.5 KiB
C++
119 lines
3.5 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_circle.h
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path_circle.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_circle.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_circle.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_PATHCIRCLE_H
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#define KDL_MOTION_PATHCIRCLE_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 circular Path with 'open ends'. Path_Arc would
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* have been a better name though.
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* @ingroup Motion
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*/
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class Path_Circle : public Path
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{
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// Orientatie gedeelte
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RotationalInterpolation* orient;
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// Circular gedeelte
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double radius;
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Frame F_base_center;
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// equivalent radius
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double eqradius;
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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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*
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* CAN THROW Error_MotionPlanning_Circle_ToSmall
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* CAN THROW Error_MotionPlanning_Circle_No_Plane
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*/
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Path_Circle(const Frame& F_base_start,const Vector& V_base_center,
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const Vector& V_base_p,
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const Rotation& R_base_end,
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double alpha,
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RotationalInterpolation* otraj,
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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 Path* Clone();
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virtual void Write(std::ostream& os);
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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_CIRCLE;
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}
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virtual ~Path_Circle();
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};
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}
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#endif
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