File size: 3,536 Bytes
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 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | // 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 ROBOT_Trajectory_H
#define ROBOT_Trajectory_H
#include <vector>
#include <Base/Persistence.h>
#include <Base/Placement.h>
#include <Mod/Robot/RobotGlobal.h>
#include "Waypoint.h"
namespace KDL
{
class Trajectory_Composite;
}
namespace Robot
{
/** The representation of a Trajectory
*/
class RobotExport Trajectory: public Base::Persistence
{
TYPESYSTEM_HEADER_WITH_OVERRIDE();
public:
Trajectory();
Trajectory(const Trajectory&);
~Trajectory() override;
Trajectory& operator=(const Trajectory&);
// from base class
unsigned int getMemSize() const override;
void Save(Base::Writer& /*writer*/) const override;
void Restore(Base::XMLReader& /*reader*/) override;
// interface
void generateTrajectory();
void addWaypoint(const Waypoint& WPnt);
unsigned int getSize() const
{
return vpcWaypoints.size();
}
const Waypoint& getWaypoint(unsigned int pos) const
{
return *vpcWaypoints[pos];
}
std::string getUniqueWaypointName(const char* Name) const;
const std::vector<Waypoint*>& getWaypoints() const
{
return vpcWaypoints;
}
/// delete the last n waypoints
void deleteLast(unsigned int n = 1);
/// return the Length (mm) of the Trajectory if -1 or of the Waypoint with the given number
double getLength(int n = -1) const;
/// return the duration (s) of the Trajectory if -1 or of the Waypoint with the given number
double getDuration(int n = -1) const;
Base::Placement getPosition(double time) const;
double getVelocity(double time) const;
protected:
std::vector<Waypoint*> vpcWaypoints;
KDL::Trajectory_Composite* pcTrajectory {nullptr};
};
} // namespace Robot
#endif // PART_TOPOSHAPE_H
|