diff --git a/src/Mod/Path/App/Path.h b/src/Mod/Path/App/Path.h index 75f460b51c..7ce9e602a1 100644 --- a/src/Mod/Path/App/Path.h +++ b/src/Mod/Path/App/Path.h @@ -1,95 +1,95 @@ -/*************************************************************************** - * Copyright (c) Yorik van Havre (yorik@uncreated.net) 2014 * - * * - * This file is part of the FreeCAD CAx development system. * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Library General Public * - * License as published by the Free Software Foundation; either * - * version 2 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 Library General Public License for more details. * - * * - * You should have received a copy of the GNU Library General Public * - * License along with this library; see the file COPYING.LIB. If not, * - * write to the Free Software Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307, USA * - * * - ***************************************************************************/ - - -#ifndef PATH_Path_H -#define PATH_Path_H +/*************************************************************************** + * Copyright (c) Yorik van Havre (yorik@uncreated.net) 2014 * + * * + * This file is part of the FreeCAD CAx development system. * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Library General Public * + * License as published by the Free Software Foundation; either * + * version 2 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 Library General Public License for more details. * + * * + * You should have received a copy of the GNU Library General Public * + * License along with this library; see the file COPYING.LIB. If not, * + * write to the Free Software Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307, USA * + * * + ***************************************************************************/ + + +#ifndef PATH_Path_H +#define PATH_Path_H #include "Command.h" -//#include "Mod/Robot/App/kdl_cp/path_composite.hpp" +//#include "Mod/Robot/App/kdl_cp/path_composite.hpp" //#include "Mod/Robot/App/kdl_cp/frames_io.hpp" -#include -#include - -namespace Path -{ - - /** The representation of a CNC Toolpath */ - - class PathExport Toolpath : public Base::Persistence - { - TYPESYSTEM_HEADER(); - - public: - Toolpath(); - Toolpath(const Toolpath&); - ~Toolpath(); - - Toolpath &operator=(const Toolpath&); - - // from base class - virtual unsigned int getMemSize (void) const; - virtual void Save (Base::Writer &/*writer*/) const; - virtual void Restore(Base::XMLReader &/*reader*/); - void SaveDocFile (Base::Writer &writer) const; - void RestoreDocFile(Base::Reader &reader); - - // interface - void clear(void); // clears the internal data - void addCommand(const Command &Cmd); // adds a command at the end - void insertCommand(const Command &Cmd, int); // inserts a command - void deleteCommand(int); // deletes a command - double getLength(void); // return the Length (mm) of the Path - void recalculate(void); // recalculates the points - void setFromGCode(const std::string); // sets the path from the contents of the given GCode string - std::string toGCode(void) const; // gets a gcode string representation from the Path - - // shortcut functions - unsigned int getSize(void) const{return vpcCommands.size();} - const std::vector &getCommands(void)const{return vpcCommands;} - const Command &getCommand(unsigned int pos)const {return *vpcCommands[pos];} - - protected: - std::vector vpcCommands; - //KDL::Path_Composite *pcPath; - - /* - inline KDL::Frame toFrame(const Base::Placement &To){ - return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0], - To.getRotation()[1], - To.getRotation()[2], - To.getRotation()[3]), - KDL::Vector(To.getPosition()[0], - To.getPosition()[1], - To.getPosition()[2])); - } - inline Base::Placement toPlacement(const KDL::Frame &To){ - double x,y,z,w; - To.M.GetQuaternion(x,y,z,w); - return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w)); - } */ - }; - -} //namespace Path - - -#endif // PATH_Path_H +#include +#include + +namespace Path +{ + + /** The representation of a CNC Toolpath */ + + class PathExport Toolpath : public Base::Persistence + { + TYPESYSTEM_HEADER(); + + public: + Toolpath(); + Toolpath(const Toolpath&); + ~Toolpath(); + + Toolpath &operator=(const Toolpath&); + + // from base class + virtual unsigned int getMemSize (void) const; + virtual void Save (Base::Writer &/*writer*/) const; + virtual void Restore(Base::XMLReader &/*reader*/); + void SaveDocFile (Base::Writer &writer) const; + void RestoreDocFile(Base::Reader &reader); + + // interface + void clear(void); // clears the internal data + void addCommand(const Command &Cmd); // adds a command at the end + void insertCommand(const Command &Cmd, int); // inserts a command + void deleteCommand(int); // deletes a command + double getLength(void); // return the Length (mm) of the Path + void recalculate(void); // recalculates the points + void setFromGCode(const std::string); // sets the path from the contents of the given GCode string + std::string toGCode(void) const; // gets a gcode string representation from the Path + + // shortcut functions + unsigned int getSize(void) const{return vpcCommands.size();} + const std::vector &getCommands(void)const{return vpcCommands;} + const Command &getCommand(unsigned int pos)const {return *vpcCommands[pos];} + + protected: + std::vector vpcCommands; + //KDL::Path_Composite *pcPath; + + /* + inline KDL::Frame toFrame(const Base::Placement &To){ + return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0], + To.getRotation()[1], + To.getRotation()[2], + To.getRotation()[3]), + KDL::Vector(To.getPosition()[0], + To.getPosition()[1], + To.getPosition()[2])); + } + inline Base::Placement toPlacement(const KDL::Frame &To){ + double x,y,z,w; + To.M.GetQuaternion(x,y,z,w); + return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w)); + } */ + }; + +} //namespace Path + + +#endif // PATH_Path_H