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985c397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | // SPDX-License-Identifier: LGPL-2.1-or-later
/***************************************************************************
* Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> *
* *
* 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 _Simulation_h_
#define _Simulation_h_
#include <Base/Placement.h>
#include <Mod/Robot/RobotGlobal.h>
#include "Robot6Axis.h"
#include "Trajectory.h"
namespace Robot
{
/** Algo class for projecting shapes and creating SVG output of it
*/
class RobotExport Simulation
{
public:
/// Constructor
Simulation(const Trajectory& Trac, Robot6Axis& Rob);
virtual ~Simulation();
double getLength()
{
return Trac.getLength();
}
double getDuration()
{
return Trac.getDuration();
}
Base::Placement getPosition()
{
return Trac.getPosition(Pos);
}
double getVelocity()
{
return Trac.getVelocity(Pos);
}
void step(double tick);
void setToWaypoint(unsigned int n);
void setToTime(float t);
// apply the start axis angles and set to time 0. Restores the exact start position
void reset();
double Pos {0.0};
double Axis[6] {};
double startAxis[6] {};
Trajectory Trac;
Robot6Axis& Rob;
Base::Placement Tool;
};
} // namespace Robot
#endif
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