/*************************************************************************** * Copyright (c) Jürgen Riegel (juergen.riegel@web.de) 2009 * * * * 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 * * * ***************************************************************************/ #ifndef _Simulation_h_ #define _Simulation_h_ #include #include #include #include "Trajectory.h" #include "Robot6Axis.h" namespace Robot { /** Algo class for projecting shapes and creating SVG output of it */ class RobotExport Simulation { public: /// Constructor Simulation(const Trajectory &Trac,Robot6Axis &Rob); virtual ~Simulation(); double getLength(void){return Trac.getLength();} double getDuration(void){return Trac.getDuration();} Base::Placement getPosition(void){return Trac.getPosition(Pos);} double getVelocity(void){return Trac.getVelocity(Pos);} void step(double tick); void setToWaypoint(unsigned int n); void setToTime(float t); // apply the start axis angles and set to time 0. Restors the exact start position void reset(void); double Pos; double Axis[6]; double startAxis[6]; Trajectory Trac; Robot6Axis &Rob; Base::Placement Tool; }; } //namespace Robot #endif