| // SPDX-License-Identifier: LGPL-2.1-or-later | |
| /*************************************************************************** | |
| * 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 * | |
| * * | |
| ***************************************************************************/ | |
| 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 | |