| // SPDX-License-Identifier: LGPL-2.1-or-later | |
| /*************************************************************************** | |
| * Copyright (c) 2009 Jürgen Riegel <juergen.riegel@web.de> * | |
| * * | |
| * 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 * | |
| * * | |
| ***************************************************************************/ | |
| 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() | |
| { | |
| return Trac.getLength(); | |
| } | |
| double getDuration() | |
| { | |
| return Trac.getDuration(); | |
| } | |
| Base::Placement getPosition() | |
| { | |
| return Trac.getPosition(Pos); | |
| } | |
| double getVelocity() | |
| { | |
| 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. Restores the exact start position | |
| void reset(); | |
| double Pos {0.0}; | |
| double Axis[6] {}; | |
| double startAxis[6] {}; | |
| Trajectory Trac; | |
| Robot6Axis& Rob; | |
| Base::Placement Tool; | |
| }; | |
| } // namespace Robot | |