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/***************************************************************************
* Copyright (c) 2002 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_WAYPOINT_H
#define ROBOT_WAYPOINT_H
#include <Base/Persistence.h>
#include <Base/Placement.h>
#include <Mod/Robot/RobotGlobal.h>
namespace Robot
{
/** The representation of a waypoint in a trajectory
*/
class RobotExport Waypoint: public Base::Persistence
{
TYPESYSTEM_HEADER_WITH_OVERRIDE();
public:
enum WaypointType
{
UNDEF,
PTP,
LINE,
CIRC,
WAIT
};
Waypoint();
/// full constructor
Waypoint(
const char* name,
const Base::Placement& endPos,
WaypointType type = Waypoint::LINE,
float velocity = 2000.0,
float acceleration = 100.0,
bool cont = false,
unsigned int tool = 0,
unsigned int base = 0
);
~Waypoint() override;
// from base class
unsigned int getMemSize() const override;
void Save(Base::Writer& /*writer*/) const override;
void Restore(Base::XMLReader& /*reader*/) override;
std::string Name;
WaypointType Type;
float Velocity;
float Acceleration;
bool Cont;
unsigned int Tool, Base;
Base::Placement EndPos;
};
} // namespace Robot
#endif // ROBOT_WAYPOINT_H
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