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/***************************************************************************
* Copyright (c) 2014 Yorik van Havre <yorik@uncreated.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 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 Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef PATH_Path_H
#define PATH_Path_H
#include <Base/BoundBox.h>
#include <Base/Persistence.h>
#include <Base/Vector3D.h>
#include "Command.h"
namespace Path
{
/** The representation of a CNC Toolpath */
class PathExport Toolpath: public Base::Persistence
{
TYPESYSTEM_HEADER_WITH_OVERRIDE();
public:
Toolpath();
Toolpath(const Toolpath&);
~Toolpath() override;
Toolpath& operator=(const Toolpath&);
// from base class
unsigned int getMemSize() const override;
void Save(Base::Writer& /*writer*/) const override;
void Restore(Base::XMLReader& /*reader*/) override;
void SaveDocFile(Base::Writer& writer) const override;
void RestoreDocFile(Base::Reader& reader) override;
// interface
void clear(); // clears the internal data
void addCommand(const Command& Cmd); // adds a command at the end
void addCommandNoRecalc(const Command& Cmd); // adds a command without recalculation
void insertCommand(const Command& Cmd, int); // inserts a command
void deleteCommand(int); // deletes a command
double getLength(); // return the Length (mm) of the Path
double getCycleTime(double, double, double, double); // return the Cycle Time (s) of the Path
void recalculate(); // recalculates the points
void setFromGCode(const std::string); // sets the path from the contents of the given GCode string
std::string toGCode() const; // gets a gcode string representation from the Path
Base::BoundBox3d getBoundBox() const;
// shortcut functions
unsigned int getSize() const
{
return vpcCommands.size();
}
const std::vector<Command*>& getCommands() const
{
return vpcCommands;
}
const Command& getCommand(unsigned int pos) const
{
return *vpcCommands[pos];
}
// support for rotation
const Base::Vector3d& getCenter() const
{
return center;
}
void setCenter(const Base::Vector3d& c);
static const int SchemaVersion = 2;
protected:
std::vector<Command*> vpcCommands;
Base::Vector3d center;
// KDL::Path_Composite *pcPath;
/*
inline KDL::Frame toFrame(const Base::Placement &To){
return KDL::Frame(KDL::Rotation::Quaternion(To.getRotation()[0],
To.getRotation()[1],
To.getRotation()[2],
To.getRotation()[3]),
KDL::Vector(To.getPosition()[0],
To.getPosition()[1],
To.getPosition()[2]));
}
inline Base::Placement toPlacement(const KDL::Frame &To){
double x,y,z,w;
To.M.GetQuaternion(x,y,z,w);
return Base::Placement(Base::Vector3d(To.p[0],To.p[1],To.p[2]),Base::Rotation(x,y,z,w));
} */
};
} // namespace Path
#endif // PATH_Path_H
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