/***************************************************************************
* 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