00001 #ifndef YOUBOT_JOINTTRAJECTORY_H 00002 #define YOUBOT_JOINTTRAJECTORY_H 00003 00004 /**************************************************************** 00005 * 00006 * Copyright (c) 2011 00007 * All rights reserved. 00008 * 00009 * Hochschule Bonn-Rhein-Sieg 00010 * University of Applied Sciences 00011 * Computer Science Department 00012 * 00013 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00014 * 00015 * Author: 00016 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00017 * Supervised by: 00018 * Gerhard K. Kraetzschmar 00019 * 00020 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00021 * 00022 * This sofware is published under a dual-license: GNU Lesser General Public 00023 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00024 * code may choose which terms they prefer. 00025 * 00026 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00027 * 00028 * Redistribution and use in source and binary forms, with or without 00029 * modification, are permitted provided that the following conditions are met: 00030 * 00031 * * Redistributions of source code must retain the above copyright 00032 * notice, this list of conditions and the following disclaimer. 00033 * * Redistributions in binary form must reproduce the above copyright 00034 * notice, this list of conditions and the following disclaimer in the 00035 * documentation and/or other materials provided with the distribution. 00036 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 2.1 of the 00043 * License, or (at your option) any later version or the BSD license. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL and the BSD license for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL and BSD license along with this program. 00052 * 00053 ****************************************************************/ 00054 #include "generic/Units.hpp" 00055 #include "generic/Time.hpp" 00056 #include "generic-joint/JointData.hpp" 00057 namespace youbot { 00058 00059 /////////////////////////////////////////////////////////////////////////////// 00060 /// Joint Trajectory Segment 00061 /////////////////////////////////////////////////////////////////////////////// 00062 struct TrajectorySegment 00063 { 00064 quantity<plane_angle> positions; 00065 quantity<angular_velocity> velocities; 00066 quantity<angular_acceleration> accelerations; 00067 boost::posix_time::time_duration time_from_start; 00068 }; 00069 /////////////////////////////////////////////////////////////////////////////// 00070 /// Joint Trajectory representation 00071 /////////////////////////////////////////////////////////////////////////////// 00072 class JointTrajectory { 00073 public: 00074 std::vector< TrajectorySegment > segments; 00075 00076 boost::posix_time::ptime start_time; 00077 00078 }; 00079 00080 } // namespace youbot 00081 #endif