63a8d31bb6
"Professional CMake" book suggest the following: "Targets should build successfully with or without compiler support for precompiled headers. It should be considered an optimization, not a requirement. In particular, do not explicitly include a precompile header (e.g. stdafx.h) in the source code, let CMake force-include an automatically generated precompile header on the compiler command line instead. This is more portable across the major compilers and is likely to be easier to maintain. It will also avoid warnings being generated from certain code checking tools like iwyu (include what you use)." Therefore, removed the "#include <PreCompiled.h>" from sources, also there is no need for the "#ifdef _PreComp_" anymore
100 lines
3.4 KiB
C++
100 lines
3.4 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 <vector>
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#include <Base/Persistence.h>
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#include <Base/Placement.h>
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#include <Mod/Robot/RobotGlobal.h>
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#include "Waypoint.h"
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namespace KDL
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{
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class Trajectory_Composite;
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}
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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_WITH_OVERRIDE();
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public:
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Trajectory();
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Trajectory(const Trajectory&);
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~Trajectory() override;
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Trajectory& operator=(const Trajectory&);
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// from base class
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unsigned int getMemSize() const override;
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void Save(Base::Writer& /*writer*/) const override;
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void Restore(Base::XMLReader& /*reader*/) override;
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// interface
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void generateTrajectory();
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void addWaypoint(const Waypoint& WPnt);
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unsigned int getSize() const
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{
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return vpcWaypoints.size();
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}
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const Waypoint& getWaypoint(unsigned int pos) const
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{
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return *vpcWaypoints[pos];
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}
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std::string getUniqueWaypointName(const char* Name) const;
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const std::vector<Waypoint*>& getWaypoints() const
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{
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return vpcWaypoints;
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}
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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 {nullptr};
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};
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} // namespace Robot
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#endif // PART_TOPOSHAPE_H
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