103 lines
4.8 KiB
C++
103 lines
4.8 KiB
C++
/***************************************************************************
|
|
* Copyright (c) Yorik van Havre (yorik@uncreated.net) 2014 *
|
|
* *
|
|
* This file is part of the FreeCAD CAx development system. *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Library General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2 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 Library General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Library General Public *
|
|
* License along with this library; see the file COPYING.LIB. If not, *
|
|
* write to the Free Software Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307, USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
|
|
#ifndef PATH_Path_H
|
|
#define PATH_Path_H
|
|
|
|
#include "Command.h"
|
|
//#include "Mod/Robot/App/kdl_cp/path_composite.hpp"
|
|
//#include "Mod/Robot/App/kdl_cp/frames_io.hpp"
|
|
#include <Base/Persistence.h>
|
|
#include <Base/Vector3D.h>
|
|
|
|
namespace Path
|
|
{
|
|
|
|
/** The representation of a CNC Toolpath */
|
|
|
|
class PathExport Toolpath : public Base::Persistence
|
|
{
|
|
TYPESYSTEM_HEADER();
|
|
|
|
public:
|
|
Toolpath();
|
|
Toolpath(const Toolpath&);
|
|
~Toolpath();
|
|
|
|
Toolpath &operator=(const Toolpath&);
|
|
|
|
// from base class
|
|
virtual unsigned int getMemSize (void) const;
|
|
virtual void Save (Base::Writer &/*writer*/) const;
|
|
virtual void Restore(Base::XMLReader &/*reader*/);
|
|
void SaveDocFile (Base::Writer &writer) const;
|
|
void RestoreDocFile(Base::Reader &reader);
|
|
|
|
// interface
|
|
void clear(void); // clears the internal data
|
|
void addCommand(const Command &Cmd); // adds a command at the end
|
|
void insertCommand(const Command &Cmd, int); // inserts a command
|
|
void deleteCommand(int); // deletes a command
|
|
double getLength(void); // return the Length (mm) of the Path
|
|
void recalculate(void); // recalculates the points
|
|
void setFromGCode(const std::string); // sets the path from the contents of the given GCode string
|
|
std::string toGCode(void) const; // gets a gcode string representation from the Path
|
|
|
|
// shortcut functions
|
|
unsigned int getSize(void) const { return vpcCommands.size(); }
|
|
const std::vector<Command*> &getCommands(void) const { return vpcCommands; }
|
|
const Command &getCommand(unsigned int pos) const { return *vpcCommands[pos]; }
|
|
|
|
// support for rotation
|
|
const Base::Vector3d& getCenter() const { return center; }
|
|
void setCenter(const Base::Vector3d &c);
|
|
|
|
static const int SchemaVersion = 2;
|
|
|
|
protected:
|
|
std::vector<Command*> vpcCommands;
|
|
Base::Vector3d center;
|
|
//KDL::Path_Composite *pcPath;
|
|
|
|
/*
|
|
inline KDL::Frame toFrame(const Base::Placement &To){
|
|
return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0],
|
|
To.getRotation()[1],
|
|
To.getRotation()[2],
|
|
To.getRotation()[3]),
|
|
KDL::Vector(To.getPosition()[0],
|
|
To.getPosition()[1],
|
|
To.getPosition()[2]));
|
|
}
|
|
inline Base::Placement toPlacement(const KDL::Frame &To){
|
|
double x,y,z,w;
|
|
To.M.GetQuaternion(x,y,z,w);
|
|
return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w));
|
|
} */
|
|
};
|
|
|
|
} //namespace Path
|
|
|
|
|
|
#endif // PATH_Path_H
|