113 lines
3.7 KiB
C++
113 lines
3.7 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 trajectory_segment.h
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trajectory_segment.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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* \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: trajectory_segment.h,v 1.1.1.1.2.5 2003/07/23 16:44:26 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
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#define KDL_MOTION_TRAJECTORY_SEGMENT_H
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#include "frames.hpp"
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#include "frames_io.hpp"
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#include "trajectory.hpp"
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#include "path.hpp"
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#include "velocityprofile.hpp"
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namespace KDL {
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/**
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* Trajectory_Segment combines a VelocityProfile and a Path into a
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* trajectory
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* @ingroup Motion
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*/
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class Trajectory_Segment : public Trajectory
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{
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VelocityProfile* motprof;
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Path* geom;
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bool aggregate;
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public:
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/**
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* This constructor assumes that \a geom and \<_motprof\> are initialised correctly.
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*/
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Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate=true);
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/**
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* This constructor assumes that \a geom is initialised and \<_motprof\> needs to be
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* set according to \a duration.
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*/
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Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double duration, bool _aggregate=true);
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virtual double Duration() const;
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// The duration of the trajectory
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virtual Frame Pos(double time) const;
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// Position of the trajectory at <time>.
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virtual Twist Vel(double time) const;
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// The velocity of the trajectory at <time>.
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virtual Twist Acc(double time) const;
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// The acceleration of the trajectory at <time>.
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virtual Trajectory* Clone() const
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{
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if ( aggregate )
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return new Trajectory_Segment( geom->Clone(), motprof->Clone(), true );
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return new Trajectory_Segment( geom, motprof, false );
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}
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virtual void Write(std::ostream& os) const;
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virtual Path* GetPath();
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virtual VelocityProfile* GetProfile();
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virtual ~Trajectory_Segment();
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};
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}
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#endif
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