120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
108 lines
3.9 KiB
C++
108 lines
3.9 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile.h
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velocityprofile.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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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 Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 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 GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* 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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/*****************************************************************************
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*
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: velocityprofile.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_VELOCITYPROFILE_H
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#define KDL_VELOCITYPROFILE_H
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#include "utilities/utility.h"
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#include "utilities/utility_io.h"
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namespace KDL {
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/**
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* A VelocityProfile stores the velocity profile that
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* is used within a trajectory. A velocity profile is the function that
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* expresses position, velocity and acceleration of a point on a curve
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* in function of time. It defines the how a point s moves on a path S.
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* @ingroup Motion
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*/
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class VelocityProfile
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{
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public:
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// trajectory parameters are set in constructor of
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// derived class
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virtual void SetProfile(double pos1,double pos2) = 0;
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// sets a trajectory from pos1 to pos2 as fast as possible
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virtual void SetProfileDuration(
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double pos1,double pos2,double duration) = 0;
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// Sets a trajectory from pos1 to pos2 in <duration> seconds.
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// @post new.Duration() will not be shorter than the one obtained
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// from SetProfile(pos1,pos2).
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virtual double Duration() const = 0;
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// returns the duration of the motion in [sec]
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virtual double Pos(double time) const = 0;
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// returns the position at <time> in the units of the input
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// of the constructor of the derived class.
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virtual double Vel(double time) const = 0;
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// returns the velocity at <time> in the units of the input
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// of the constructor of the derived class.
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virtual double Acc(double time) const = 0;
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// returns the acceleration at <time> in the units of the input
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// of the constructor of the derived class.
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virtual void Write(std::ostream& os) const = 0;
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// Writes object to a stream.
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static VelocityProfile* Read(std::istream& is);
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// reads a VelocityProfile object from the stream and returns it.
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virtual VelocityProfile* Clone() const = 0;
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// returns copy of current VelocityProfile object. (virtual constructor)
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virtual ~VelocityProfile() {}
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};
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}
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#endif
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