137 lines
4.2 KiB
C++
137 lines
4.2 KiB
C++
/***************************************************************************
|
|
tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h
|
|
|
|
path.h - description
|
|
-------------------
|
|
begin : Mon January 10 2005
|
|
copyright : (C) 2005 Erwin Aertbelien
|
|
email : erwin.aertbelien@mech.kuleuven.ac.be
|
|
|
|
***************************************************************************
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Lesser General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2.1 of the License, or (at your option) any later version. *
|
|
* *
|
|
* This library is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
|
|
* Lesser General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Lesser General Public *
|
|
* License along with this library; if not, write to the Free Software *
|
|
* Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307 USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
|
|
/*****************************************************************************
|
|
* \author
|
|
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
|
|
*
|
|
* \version
|
|
* ORO_Geometry V0.2
|
|
*
|
|
* \par History
|
|
* - $log$
|
|
*
|
|
* \par Release
|
|
* $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
|
|
* $Name: $
|
|
****************************************************************************/
|
|
|
|
#ifndef KDL_MOTION_PATH_H
|
|
#define KDL_MOTION_PATH_H
|
|
|
|
#include "frames.hpp"
|
|
|
|
#include <vector>
|
|
|
|
#include "frames_io.hpp"
|
|
|
|
namespace KDL {
|
|
|
|
/**
|
|
* The specification of the path of a trajectory.
|
|
*/
|
|
class Path
|
|
{
|
|
public:
|
|
enum IdentifierType {
|
|
ID_LINE=1,
|
|
ID_CIRCLE=2,
|
|
ID_COMPOSITE=3,
|
|
ID_ROUNDED_COMPOSITE=4,
|
|
ID_POINT=5,
|
|
ID_CYCLIC_CLOSED=6
|
|
};
|
|
/**
|
|
* LengthToS() converts a physical length along the trajectory
|
|
* to the parameter s used in Pos, Vel and Acc. This is used because
|
|
* in cases with large rotations the parameter s does NOT correspond to
|
|
* the lineair length along the trajectory.
|
|
* User should be sure that the lineair distance travelled by this
|
|
* path object is NOT zero, when using this method !
|
|
* (e.g. the case of only rotational change)
|
|
* throws Error_MotionPlanning_Not_Applicable if used on composed
|
|
* path objects.
|
|
* @ingroup Motion
|
|
*/
|
|
virtual double LengthToS(double length) = 0;
|
|
|
|
/**
|
|
* Returns the total path length of the trajectory
|
|
* (has dimension LENGTH)
|
|
* This is not always a physical length , ie when dealing with rotations
|
|
* that are dominant.
|
|
*/
|
|
virtual double PathLength() = 0;
|
|
|
|
/**
|
|
* Returns the Frame at the current path length s
|
|
*/
|
|
virtual Frame Pos(double s) const = 0;
|
|
|
|
/**
|
|
* Returns the velocity twist at path length s theta and with
|
|
* derivative of s == sd
|
|
*/
|
|
virtual Twist Vel(double s,double sd) const = 0;
|
|
|
|
/**
|
|
* Returns the acceleration twist at path length s and with
|
|
* derivative of s == sd, and 2nd derivative of s == sdd
|
|
*/
|
|
virtual Twist Acc(double s,double sd,double sdd) const = 0;
|
|
|
|
/**
|
|
* Writes one of the derived objects to the stream
|
|
*/
|
|
virtual void Write(std::ostream& os) = 0;
|
|
|
|
/**
|
|
* Reads one of the derived objects from the stream and returns a pointer
|
|
* (factory method)
|
|
*/
|
|
static Path* Read(std::istream& is);
|
|
|
|
/**
|
|
* Virtual constructor, constructing by copying,
|
|
* Returns a deep copy of this Path Object
|
|
*/
|
|
virtual Path* Clone() = 0;
|
|
|
|
/**
|
|
* gets an identifier indicating the type of this Path object
|
|
*/
|
|
virtual IdentifierType getIdentifier() const=0;
|
|
|
|
virtual ~Path() {}
|
|
};
|
|
|
|
}
|
|
|
|
|
|
#endif
|