110 lines
3.5 KiB
C++
110 lines
3.5 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 trajectory_segment.cxx
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trajectory_segment.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 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.cpp,v 1.1.1.1.2.7 2003/07/23 16:44:26 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#include "trajectory_segment.hpp"
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namespace KDL {
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Trajectory_Segment::Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate):
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motprof(_motprof),geom(_geom), aggregate(_aggregate)
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{
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// assume everything is set or at least check if Duration() != 0
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}
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Trajectory_Segment::Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double _duration, bool _aggregate):
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motprof(_motprof),geom(_geom), aggregate(_aggregate)
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{
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// the duration was specified so assume motprof not yet set.
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motprof->SetProfileDuration(0, geom->PathLength(), _duration);
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}
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double Trajectory_Segment::Duration() const
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{
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return motprof->Duration();
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}
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Frame Trajectory_Segment::Pos(double time) const
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{
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return geom->Pos(motprof->Pos(time));
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}
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Twist Trajectory_Segment::Vel(double time) const
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{
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return geom->Vel(motprof->Pos(time),motprof->Vel(time));
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}
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Twist Trajectory_Segment::Acc(double time) const
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{
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return geom->Acc(motprof->Pos(time),motprof->Vel(time),motprof->Acc(time));
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}
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void Trajectory_Segment::Write(std::ostream& os) const
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{
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os << "SEGMENT[ " << std::endl;
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os << " ";geom->Write(os);os << std::endl;
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os << " ";motprof->Write(os);os << std::endl;
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os << "]";
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}
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Trajectory_Segment::~Trajectory_Segment()
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{
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if (aggregate)
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{
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delete motprof;
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delete geom;
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}
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}
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Path* Trajectory_Segment::GetPath() {
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return geom;
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}
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VelocityProfile* Trajectory_Segment::GetProfile() {
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return motprof;
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}
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}
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