+ unify DLL export defines to namespace names

git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
2011-10-10 13:44:52 +00:00
commit 120ca87015
4155 changed files with 2965978 additions and 0 deletions
--- a/src/Mod/Robot/App/Simulation.cpp
+++ b/src/Mod/Robot/App/Simulation.cpp
@@ -0,0 +1,121 @@
+/***************************************************************************
+ *   Copyright (c) Jürgen Riegel          (juergen.riegel@web.de) 2002     *
+ *                                                                         *
+ *   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                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#include "PreCompiled.h"
+
+#ifndef _PreComp_
+
+#endif
+
+#include "kdl_cp/chain.hpp"
+#include "kdl_cp/frames_io.hpp"
+
+#include <stdio.h>
+#include <iostream>
+
+#include <Base/Console.h>
+
+
+#include "Simulation.h"
+
+using namespace Robot;
+using namespace std;
+using namespace KDL;
+
+
+
+//===========================================================================
+// Simulation class
+//===========================================================================
+
+
+
+Simulation::Simulation(const Robot::Trajectory &Trac,Robot::Robot6Axis &Rob)
+:Pos(0.0),Trac(Trac),Rob(Rob)
+{
+    // simulate a trajectory with only one waypoint make no sense!
+    assert(Trac.getSize() > 1);
+        
+
+	startAxis[0] = Rob.getAxis(0);
+    startAxis[1] = Rob.getAxis(1);
+    startAxis[2] = Rob.getAxis(2);
+    startAxis[3] = Rob.getAxis(3);
+    startAxis[4] = Rob.getAxis(4);
+    startAxis[5] = Rob.getAxis(5);
+
+    setToTime(0);
+
+}
+
+Simulation::~Simulation()
+{
+}
+
+void Simulation::step(double tick)
+{
+	Pos += tick;
+}
+
+void Simulation::setToWaypoint(unsigned int n)
+{
+
+
+}
+
+void Simulation::setToTime(float t)
+{
+    Pos = t;
+    Base::Placement NeededPos = Trac.getPosition(Pos);
+    NeededPos =  NeededPos *Tool.inverse();
+    Rob.setTo(NeededPos);
+    Axis[0] = Rob.getAxis(0);
+    Axis[1] = Rob.getAxis(1);
+    Axis[2] = Rob.getAxis(2);
+    Axis[3] = Rob.getAxis(3);
+    Axis[4] = Rob.getAxis(4);
+    Axis[5] = Rob.getAxis(5);
+
+}
+
+void Simulation::reset(void)
+{
+    Rob.setAxis(0,startAxis[0]);
+    Rob.setAxis(1,startAxis[1]);
+    Rob.setAxis(2,startAxis[2]);
+    Rob.setAxis(3,startAxis[3]);
+    Rob.setAxis(4,startAxis[4]);
+    Rob.setAxis(5,startAxis[5]);
+
+    Base::Placement NeededPos = Trac.getPosition(0.0);
+    NeededPos =  NeededPos *Tool.inverse();
+    Rob.setTo(NeededPos);
+
+    Axis[0] = Rob.getAxis(0);
+    Axis[1] = Rob.getAxis(1);
+    Axis[2] = Rob.getAxis(2);
+    Axis[3] = Rob.getAxis(3);
+    Axis[4] = Rob.getAxis(4);
+    Axis[5] = Rob.getAxis(5);
+
+}