/usr/include/kdl/path.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path.h
path.h - description
-------------------
begin : Mon January 10 2005
copyright : (C) 2005 Erwin Aertbelien
email : erwin.aertbelien@mech.kuleuven.ac.be
***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/
/*****************************************************************************
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_MOTION_PATH_H
#define KDL_MOTION_PATH_H
#include "frames.hpp"
#include <vector>
#include "frames_io.hpp"
namespace KDL {
/**
* The specification of the path of a trajectory.
*/
class Path
{
public:
enum IdentifierType {
ID_LINE=1,
ID_CIRCLE=2,
ID_COMPOSITE=3,
ID_ROUNDED_COMPOSITE=4,
ID_POINT=5,
ID_CYCLIC_CLOSED=6
};
/**
* LengthToS() converts a physical length along the trajectory
* to the parameter s used in Pos, Vel and Acc. This is used because
* in cases with large rotations the parameter s does NOT correspond to
* the lineair length along the trajectory.
* User should be sure that the lineair distance travelled by this
* path object is NOT zero, when using this method !
* (e.g. the case of only rotational change)
* throws Error_MotionPlanning_Not_Applicable if used on composed
* path objects.
* @ingroup Motion
*/
virtual double LengthToS(double length) = 0;
/**
* Returns the total path length of the trajectory
* (has dimension LENGTH)
* This is not always a physical length , ie when dealing with rotations
* that are dominant.
*/
virtual double PathLength() = 0;
/**
* Returns the Frame at the current path length s
*/
virtual Frame Pos(double s) const = 0;
/**
* Returns the velocity twist at path length s theta and with
* derivative of s == sd
*/
virtual Twist Vel(double s,double sd) const = 0;
/**
* Returns the acceleration twist at path length s and with
* derivative of s == sd, and 2nd derivative of s == sdd
*/
virtual Twist Acc(double s,double sd,double sdd) const = 0;
/**
* Writes one of the derived objects to the stream
*/
virtual void Write(std::ostream& os) = 0;
/**
* Reads one of the derived objects from the stream and returns a pointer
* (factory method)
*/
static Path* Read(std::istream& is);
/**
* Virtual constructor, constructing by copying,
* Returns a deep copy of this Path Object
*/
virtual Path* Clone() = 0;
/**
* gets an identifier indicating the type of this Path object
*/
virtual IdentifierType getIdentifier() const=0;
virtual ~Path() {}
};
}
#endif
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