120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_cyclic_closed.cxx
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path_cyclic_closed.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 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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* \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: path_cyclic_closed.cpp,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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#include "path_cyclic_closed.hpp"
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#include "utilities/error.h"
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namespace KDL {
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Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate):
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times(_times),geom(_geom), aggregate(_aggregate) {}
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double Path_Cyclic_Closed::LengthToS(double length) {
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throw Error_MotionPlanning_Not_Applicable();
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return 0;
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}
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double Path_Cyclic_Closed::PathLength(){
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return geom->PathLength()*times;
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}
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Frame Path_Cyclic_Closed::Pos(double s) const {
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return geom->Pos( fmod(s,geom->PathLength()) );
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}
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Twist Path_Cyclic_Closed::Vel(double s,double sd) const {
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return geom->Vel( fmod(s,geom->PathLength()),sd );
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}
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Twist Path_Cyclic_Closed::Acc(double s,double sd,double sdd) const {
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return geom->Acc( fmod(s,geom->PathLength()),sd,sdd );
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}
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Path_Cyclic_Closed::~Path_Cyclic_Closed() {
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if (aggregate)
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delete geom;
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}
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Path* Path_Cyclic_Closed::Clone() {
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return new Path_Cyclic_Closed(geom->Clone(),times, aggregate);
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}
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void Path_Cyclic_Closed::Write(std::ostream& os) {
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os << "CYCLIC_CLOSED[ ";
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os << " ";geom->Write(os);os << std::endl;
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os << " " << times << std::endl;
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os << "]" << std::endl;
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}
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}
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