KDL 1.5.1
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path.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h
3
4 path.h - description
5 -------------------
6 begin : Mon January 10 2005
7 copyright : (C) 2005 Erwin Aertbelien
8 email : erwin.aertbelien@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29 /*****************************************************************************
30 * \author
31 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32 *
33 * \version
34 * ORO_Geometry V0.2
35 *
36 * \par History
37 * - $log$
38 *
39 * \par Release
40 * $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_MOTION_PATH_H
45#define KDL_MOTION_PATH_H
46
47#include "frames.hpp"
48
49#include <vector>
50
51#include "frames_io.hpp"
52
53namespace KDL {
54
58class Path
59 {
60 public:
81 virtual double LengthToS(double length) = 0;
82
89 virtual double PathLength() = 0;
90
94 virtual Frame Pos(double s) const = 0;
95
100 virtual Twist Vel(double s,double sd) const = 0;
101
106 virtual Twist Acc(double s,double sd,double sdd) const = 0;
107
111 virtual void Write(std::ostream& os) = 0;
112
117 static Path* Read(std::istream& is);
118
123 virtual Path* Clone() = 0;
124
128 virtual IdentifierType getIdentifier() const=0;
129
130 virtual ~Path() {}
131 };
132
133}
134
135
136#endif
Definition frames.hpp:570
The specification of the path of a trajectory.
Definition path.hpp:59
virtual double PathLength()=0
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
virtual ~Path()
Definition path.hpp:130
static Path * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition path.cpp:60
virtual Twist Acc(double s, double sd, double sdd) const =0
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
virtual void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
virtual Twist Vel(double s, double sd) const =0
Returns the velocity twist at path length s theta and with derivative of s == sd.
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
IdentifierType
Definition path.hpp:61
@ ID_CIRCLE
Definition path.hpp:63
@ ID_COMPOSITE
Definition path.hpp:64
@ ID_LINE
Definition path.hpp:62
@ ID_ROUNDED_COMPOSITE
Definition path.hpp:65
@ ID_POINT
Definition path.hpp:66
@ ID_CYCLIC_CLOSED
Definition path.hpp:67
virtual IdentifierType getIdentifier() const =0
gets an identifier indicating the type of this Path object
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
represents both translational and rotational velocities.
Definition frames.hpp:720
Defines routines for I/O of Frame and related objects.
virtual double LengthToS(double length)=0
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition articulatedbodyinertia.cpp:26