75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
/***************************************************************************
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* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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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 Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 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 *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software 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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#ifndef _Simulation_h_
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#define _Simulation_h_
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#include <Base/Vector3D.h>
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#include <Base/Placement.h>
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#include <string>
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#include "Trajectory.h"
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#include "Robot6Axis.h"
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namespace Robot
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{
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/** Algo class for projecting shapes and creating SVG output of it
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*/
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class RobotExport Simulation
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{
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public:
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/// Constructor
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Simulation(const Trajectory &Trac,Robot6Axis &Rob);
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virtual ~Simulation();
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double getLength(void){return Trac.getLength();}
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double getDuration(void){return Trac.getDuration();}
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Base::Placement getPosition(void){return Trac.getPosition(Pos);}
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double getVelocity(void){return Trac.getVelocity(Pos);}
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void step(double tick);
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void setToWaypoint(unsigned int n);
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void setToTime(float t);
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// apply the start axis angles and set to time 0. Restores the exact start position
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void reset(void);
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double Pos;
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double Axis[6];
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double startAxis[6];
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Trajectory Trac;
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Robot6Axis &Rob;
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Base::Placement Tool;
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};
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} //namespace Robot
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#endif
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