84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/***************************************************************************
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* Copyright (c) 2002 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_WAYPOINT_H
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#define ROBOT_WAYPOINT_H
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#include "kdl_cp/chain.hpp"
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#include "kdl_cp/jntarray.hpp"
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#include <Base/Persistence.h>
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#include <Base/Placement.h>
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namespace Robot
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{
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/** The representation of a waypoint in a trajectory
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*/
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class RobotExport Waypoint : public Base::Persistence
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{
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TYPESYSTEM_HEADER();
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public:
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enum WaypointType {
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UNDEF,
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PTP,
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LINE,
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CIRC,
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WAIT };
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Waypoint();
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/// full constructor
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Waypoint(const char* name,
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const Base::Placement& endPos,
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WaypointType type = Waypoint::LINE,
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float velocity = 2000.0,
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float acceleration = 100.0,
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bool cont = false,
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unsigned int tool = 0,
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unsigned int base = 0);
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~Waypoint();
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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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std::string Name;
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WaypointType Type;
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float Velocity;
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float Acceleration;
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bool Cont;
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unsigned int Tool,Base;
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Base::Placement EndPos;
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};
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} //namespace Part
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#endif // ROBOT_WAYPOINT_H
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