orocos_kdl
src
path.hpp
Go to the documentation of this file.
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/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h
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path.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: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_MOTION_PATH_H
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#define KDL_MOTION_PATH_H
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#include "
frames.hpp
"
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#include <
vector
>
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#include "
frames_io.hpp
"
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namespace
KDL
{
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class
Path
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{
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public
:
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enum
IdentifierType
{
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ID_LINE
=1,
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ID_CIRCLE
=2,
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ID_COMPOSITE
=3,
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ID_ROUNDED_COMPOSITE
=4,
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ID_POINT
=5,
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ID_CYCLIC_CLOSED
=6
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};
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virtual
double
LengthToS
(
double
length) = 0;
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virtual
double
PathLength
() = 0;
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virtual
Frame
Pos
(
double
s)
const
= 0;
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virtual
Twist
Vel
(
double
s,
double
sd)
const
= 0;
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virtual
Twist
Acc
(
double
s,
double
sd,
double
sdd)
const
= 0;
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virtual
void
Write
(
std::ostream
& os) = 0;
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static
Path*
Read
(
std::istream
& is);
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virtual
Path*
Clone
() = 0;
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virtual
IdentifierType
getIdentifier
()
const
=0;
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virtual
~Path
() {}
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};
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}
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#endif
KDL::Path::Read
static Path * Read(std::istream &is)
Definition:
path.cpp:98
frames.hpp
KDL::Path::Acc
virtual Twist Acc(double s, double sd, double sdd) const =0
vector
frames_io.hpp
KDL::Path::Pos
virtual Frame Pos(double s) const =0
KDL::Path::ID_COMPOSITE
@ ID_COMPOSITE
Definition:
path.hpp:178
KDL::Path::ID_ROUNDED_COMPOSITE
@ ID_ROUNDED_COMPOSITE
Definition:
path.hpp:179
KDL::Path::ID_CYCLIC_CLOSED
@ ID_CYCLIC_CLOSED
Definition:
path.hpp:181
KDL::Path::LengthToS
virtual double LengthToS(double length)=0
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Path::ID_LINE
@ ID_LINE
Definition:
path.hpp:176
std::ostream
KDL::Path::IdentifierType
IdentifierType
Definition:
path.hpp:137
KDL::Path::getIdentifier
virtual IdentifierType getIdentifier() const =0
KDL::Path::~Path
virtual ~Path()
Definition:
path.hpp:206
KDL::Path::Vel
virtual Twist Vel(double s, double sd) const =0
KDL::Path::Write
virtual void Write(std::ostream &os)=0
KDL::Path::Clone
virtual Path * Clone()=0
std::istream
KDL::Path::ID_POINT
@ ID_POINT
Definition:
path.hpp:180
KDL::Path::ID_CIRCLE
@ ID_CIRCLE
Definition:
path.hpp:177
KDL::Path::PathLength
virtual double PathLength()=0
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