105 lines
4.7 KiB
C++
105 lines
4.7 KiB
C++
/***************************************************************************
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* Copyright (c) 2014 Yorik van Havre <yorik@uncreated.net> *
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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 PATH_Path_H
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#define PATH_Path_H
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#include <Base/BoundBox.h>
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#include <Base/Persistence.h>
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#include <Base/Vector3D.h>
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#include "Command.h"
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namespace Path
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{
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/** The representation of a CNC Toolpath */
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class PathExport Toolpath : public Base::Persistence
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{
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TYPESYSTEM_HEADER_WITH_OVERRIDE();
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public:
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Toolpath();
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Toolpath(const Toolpath&);
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~Toolpath() override;
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Toolpath &operator=(const Toolpath&);
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// from base class
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unsigned int getMemSize () const override;
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void Save (Base::Writer &/*writer*/) const override;
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void Restore(Base::XMLReader &/*reader*/) override;
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void SaveDocFile (Base::Writer &writer) const override;
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void RestoreDocFile(Base::Reader &reader) override;
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// interface
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void clear(); // clears the internal data
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void addCommand(const Command &Cmd); // adds a command at the end
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void insertCommand(const Command &Cmd, int); // inserts a command
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void deleteCommand(int); // deletes a command
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double getLength(); // return the Length (mm) of the Path
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double getCycleTime(double, double, double, double); // return the Cycle Time (s) of the Path
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void recalculate(); // recalculates the points
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void setFromGCode(const std::string); // sets the path from the contents of the given GCode string
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std::string toGCode() const; // gets a gcode string representation from the Path
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Base::BoundBox3d getBoundBox() const;
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// shortcut functions
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unsigned int getSize() const { return vpcCommands.size(); }
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const std::vector<Command*> &getCommands() const { return vpcCommands; }
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const Command &getCommand(unsigned int pos) const { return *vpcCommands[pos]; }
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// support for rotation
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const Base::Vector3d& getCenter() const { return center; }
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void setCenter(const Base::Vector3d &c);
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static const int SchemaVersion = 2;
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protected:
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std::vector<Command*> vpcCommands;
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Base::Vector3d center;
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//KDL::Path_Composite *pcPath;
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/*
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inline KDL::Frame toFrame(const Base::Placement &To){
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return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0],
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To.getRotation()[1],
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To.getRotation()[2],
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To.getRotation()[3]),
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KDL::Vector(To.getPosition()[0],
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To.getPosition()[1],
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To.getPosition()[2]));
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}
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inline Base::Placement toPlacement(const KDL::Frame &To){
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double x,y,z,w;
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To.M.GetQuaternion(x,y,z,w);
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return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w));
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} */
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};
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} //namespace Path
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#endif // PATH_Path_H
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