89 lines
3.3 KiB
C++
89 lines
3.3 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 ROBOT_Trajectory_H
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#define ROBOT_Trajectory_H
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#include "kdl_cp/trajectory.hpp"
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#include "Waypoint.h"
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#include <Base/Persistence.h>
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#include <Base/Placement.h>
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#include <vector>
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namespace KDL {class Trajectory_Composite;}
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namespace Robot
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{
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/** The representation of a Trajectory
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*/
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class RobotExport Trajectory : public Base::Persistence
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{
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TYPESYSTEM_HEADER();
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public:
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Trajectory();
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Trajectory(const Trajectory&);
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~Trajectory();
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Trajectory &operator=(const Trajectory&);
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// from base class
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virtual unsigned int getMemSize (void) const;
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virtual void Save (Base::Writer &/*writer*/) const;
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virtual void Restore(Base::XMLReader &/*reader*/);
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// interface
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void generateTrajectory(void);
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void addWaypoint(const Waypoint &WPnt);
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unsigned int getSize(void) const{return vpcWaypoints.size();}
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const Waypoint &getWaypoint(unsigned int pos)const {return *vpcWaypoints[pos];}
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std::string getUniqueWaypointName(const char *Name) const;
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const std::vector<Waypoint*> &getWaypoints(void)const{return vpcWaypoints;}
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/// delete the last n waypoints
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void deleteLast(unsigned int n=1);
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/// return the Length (mm) of the Trajectory if -1 or of the Waypoint with the given number
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double getLength(int n=-1) const;
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/// return the duration (s) of the Trajectory if -1 or of the Waypoint with the given number
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double getDuration (int n=-1) const;
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Base::Placement getPosition(double time)const;
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double getVelocity(double time)const;
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protected:
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std::vector<Waypoint*> vpcWaypoints;
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KDL::Trajectory_Composite *pcTrajectory;
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};
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} //namespace Part
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#endif // PART_TOPOSHAPE_H
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