66 lines
2.5 KiB
C++
66 lines
2.5 KiB
C++
/***************************************************************************
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* Copyright (c) Jürgen Riegel (juergen.riegel@web.de) 2009 *
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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 _RobotAlgos_h_
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#define _RobotAlgos_h_
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#include <Base/Vector3D.h>
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#include <string>
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#include "kdl_cp/frames_io.hpp"
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#include <Base/Placement.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 RobotAlgos
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{
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public:
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/// Constructor
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RobotAlgos(void);
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virtual ~RobotAlgos();
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void Test(void);
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};
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inline KDL::Frame toFrame(const Base::Placement &To){
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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]));
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}
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inline Base::Placement toPlacement(const KDL::Frame &To){
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double x,y,z,w;
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To.M.GetQuaternion(x,y,z,w);
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return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w));
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}
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} //namespace Robot
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#endif
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