/usr/include/kdl/path_line.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_line.h
path_line.h - description
-------------------
begin : Mon January 10 2005
copyright : (C) 2005 Erwin Aertbelien
email : erwin.aertbelien@mech.kuleuven.ac.be
***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 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 *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/
/*****************************************************************************
* ALTERNATIVE FOR trajectory_line.h/cpp
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: path_line.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_MOTION_PATH_LINE_H
#define KDL_MOTION_PATH_LINE_H
#include "path.hpp"
#include "rotational_interpolation.hpp"
namespace KDL {
/**
* A path representing a line from A to B.
* @ingroup Motion
*/
class Path_Line : public Path
{
// Orientatie gedeelte
RotationalInterpolation* orient;
// Lineair gedeelte
Vector V_base_start;
Vector V_base_end;
Vector V_start_end;
double eqradius; // equivalent radius
// verdeling baanlengte over pos/rot
double pathlength;
double scalelin;
double scalerot;
bool aggregate;
public:
/**
* Constructs a Line Path
* F_base_start and F_base_end give the begin and end frame wrt the base
* orient gives the method of rotation interpolation
* eqradius : equivalent radius :
* serves to compare rotations and translations.
* the "amount of motion"(pos,vel,acc) of the rotation is taken
* to be the amount motion of a point at distance eqradius from the
* rotation axis.
*
* Eqradius is introduced because it is unavoidable that you have to compare rotations and translations :
* e.g. : You can have motions that only contain rotation, and motions that only contain translations.
* The motion planning goes as follows :
* - translation is planned with the given parameters
* - rotation is planned planned with the parameters calculated with eqradius.
* - The longest of the previous two remains unchanged,
* the shortest in duration is scaled to take as long as the longest.
* This guarantees that the geometric path in 6D space remains independent of the motion profile parameters.
*
* RotationalInterpolation_SingleAxis() has the advantage that it is independent
* of the frame in which you express your path.
* Other implementations for RotationalInterpolations COULD be
* (not implemented) (yet) :
* 1) quaternion interpolation : but this is more difficult for the human to interprete
* 2) 3-axis interpolation : express the orientation of the frame in e.g.
* euler zyx angles alfa,beta, gamma and interpolate these parameters.
* But this is dependent of the frame you choose as a reference and
* their can occur representation singularities.
*/
Path_Line(const Frame& F_base_start,
const Frame& F_base_end,
RotationalInterpolation* orient,
double eqradius,
bool _aggregate=true);
Path_Line(const Frame& F_base_start,
const Twist& twist_in_base,
RotationalInterpolation* orient,
double eqradius,
bool _aggregate=true);
double LengthToS(double length);
virtual double PathLength();
virtual Frame Pos(double s) const;
virtual Twist Vel(double s,double sd) const ;
virtual Twist Acc(double s,double sd,double sdd) const;
virtual void Write(std::ostream& os);
virtual Path* Clone();
/**
* gets an identifier indicating the type of this Path object
*/
virtual IdentifierType getIdentifier() const {
return ID_LINE;
}
virtual ~Path_Line();
};
}
#endif
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