path.hpp

/***************************************************************************
  tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  path.h
 
                        path.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                                *
 *                                                                         *
 ***************************************************************************/
 
 
 /*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *      ORO_Geometry V0.2
 *
 *  \par History
 *      - $log$
 *
 *  \par Release
 *      $Id: path.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
 *      $Name:  $
 ****************************************************************************/
 
#ifndef KDL_MOTION_PATH_H
#define KDL_MOTION_PATH_H
 
#include "frames.hpp"
 
#include <vector>
 
#include "frames_io.hpp"
 
namespace KDL {

class Path
    {
    public:
        enum IdentifierType {
            ID_LINE=1,
            ID_CIRCLE=2,
            ID_COMPOSITE=3,
            ID_ROUNDED_COMPOSITE=4,
            ID_POINT=5,
            ID_CYCLIC_CLOSED=6
        };

        virtual double LengthToS(double length)  = 0;

        virtual double PathLength() = 0;

        virtual Frame Pos(double s) const = 0;

        virtual Twist Vel(double s,double sd) const  = 0;

        virtual Twist Acc(double s,double sd,double sdd) const  = 0;

        virtual void Write(std::ostream& os)  = 0;

        static Path* Read(std::istream& is);

        virtual Path* Clone() = 0;

        virtual IdentifierType getIdentifier() const=0;
 
        virtual ~Path() {}
    };
 
}
 
 
#endif