/usr/include/kdl/path_circle.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_circle.h
path_circle.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 *
* *
***************************************************************************/
/*****************************************************************************
* ALTERNATIVE FOR trajectory_circle.h/cpp
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: path_circle.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_MOTION_PATHCIRCLE_H
#define KDL_MOTION_PATHCIRCLE_H
#include "path.hpp"
#include "rotational_interpolation.hpp"
namespace KDL {
/**
* A circular Path with 'open ends'. Path_Arc would
* have been a better name though.
* @ingroup Motion
*/
class Path_Circle : public Path
{
// Orientatie gedeelte
RotationalInterpolation* orient;
// Circular gedeelte
double radius;
Frame F_base_center;
// equivalent radius
double eqradius;
// verdeling baanlengte over pos/rot
double pathlength;
double scalelin;
double scalerot;
bool aggregate;
public:
/**
*
* CAN THROW Error_MotionPlanning_Circle_ToSmall
* CAN THROW Error_MotionPlanning_Circle_No_Plane
*/
Path_Circle(const Frame& F_base_start,const Vector& V_base_center,
const Vector& V_base_p,
const Rotation& R_base_end,
double alpha,
RotationalInterpolation* otraj,
double eqradius,
bool _aggregate=true);
double LengthToS(double length);
virtual double PathLength();
virtual Frame Pos(double s) const;
virtual Twist Vel(double s,double sd) const;
virtual Twist Acc(double s,double sd,double sdd) const;
virtual Path* Clone();
virtual void Write(std::ostream& os);
/**
* gets an identifier indicating the type of this Path object
*/
virtual IdentifierType getIdentifier() const {
return ID_CIRCLE;
}
virtual ~Path_Circle();
};
}
#endif
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