| // 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 * | |
| * * | |
| ***************************************************************************/ | |
| 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 | |