orocos_kdl
src
path_line.hpp
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/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_line.h
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path_line.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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* ALTERNATIVE FOR trajectory_line.h/cpp
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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_line.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_LINE_H
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#define KDL_MOTION_PATH_LINE_H
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#include "
path.hpp
"
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#include "
rotational_interpolation.hpp
"
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namespace
KDL
{
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class
Path_Line :
public
Path
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{
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// Orientatie gedeelte
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RotationalInterpolation*
orient
;
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// Lineair gedeelte
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Vector
V_base_start
;
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Vector
V_base_end
;
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Vector
V_start_end
;
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double
eqradius
;
// equivalent radius
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// verdeling baanlengte over pos/rot
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double
pathlength
;
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double
scalelin
;
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double
scalerot
;
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bool
aggregate
;
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public
:
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Path_Line
(
const
Frame& F_base_start,
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const
Frame& F_base_end,
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RotationalInterpolation*
orient
,
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double
eqradius
,
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bool
_aggregate=
true
);
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Path_Line
(
const
Frame& F_base_start,
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const
Twist& twist_in_base,
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RotationalInterpolation*
orient
,
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double
eqradius
,
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bool
_aggregate=
true
);
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double
LengthToS
(
double
length);
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virtual
double
PathLength
();
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virtual
Frame
Pos
(
double
s)
const
;
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virtual
Twist
Vel
(
double
s,
double
sd)
const
;
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virtual
Twist
Acc
(
double
s,
double
sd,
double
sdd)
const
;
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virtual
void
Write
(
std::ostream
& os);
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virtual
Path*
Clone
();
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virtual
IdentifierType
getIdentifier
()
const
{
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return
ID_LINE
;
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}
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virtual
~Path_Line
();
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};
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}
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#endif
KDL::Path_Line::V_base_start
Vector V_base_start
Definition:
path_line.hpp:143
KDL::Path_Line::~Path_Line
virtual ~Path_Line()
Definition:
path_line.cpp:186
KDL::Path_Line::eqradius
double eqradius
Definition:
path_line.hpp:147
KDL::Path_Line::scalerot
double scalerot
Definition:
path_line.hpp:152
KDL::Path_Line::getIdentifier
virtual IdentifierType getIdentifier() const
Definition:
path_line.hpp:206
KDL::Path_Line::Acc
virtual Twist Acc(double s, double sd, double sdd) const
Definition:
path_line.cpp:181
KDL::Path_Line::Clone
virtual Path * Clone()
Definition:
path_line.cpp:191
KDL::Path_Line::V_base_end
Vector V_base_end
Definition:
path_line.hpp:144
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Path_Line::PathLength
virtual double PathLength()
Definition:
path_line.cpp:170
KDL::Path::ID_LINE
@ ID_LINE
Definition:
path.hpp:176
KDL::Path_Line::aggregate
bool aggregate
Definition:
path_line.hpp:154
std::ostream
KDL::Path::IdentifierType
IdentifierType
Definition:
path.hpp:137
KDL::Path_Line::Path_Line
Path_Line(const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)
Definition:
path_line.cpp:85
KDL::Path_Line::Write
virtual void Write(std::ostream &os)
Definition:
path_line.cpp:211
KDL::Path_Line::orient
RotationalInterpolation * orient
Definition:
path_line.hpp:140
KDL::Path_Line::LengthToS
double LengthToS(double length)
Definition:
path_line.cpp:167
KDL::Path_Line::Vel
virtual Twist Vel(double s, double sd) const
Definition:
path_line.cpp:177
KDL::Path_Line::scalelin
double scalelin
Definition:
path_line.hpp:151
KDL::Path_Line::V_start_end
Vector V_start_end
Definition:
path_line.hpp:145
KDL::Path_Line::pathlength
double pathlength
Definition:
path_line.hpp:150
path.hpp
rotational_interpolation.hpp
KDL::Path_Line::Pos
virtual Frame Pos(double s) const
Definition:
path_line.cpp:173
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