robLinearSE3.h

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/*
 
  Author(s): Simon Leonard
  Created on: Nov 11 2009
 
  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
#ifndef _robLinearSE3_h
#define _robLinearSE3_h
 
#include <cisstRobot/robFunctionSE3.h>
#include <cisstRobot/robExport.h>
 
class CISST_EXPORT robLinearSE3 : public robFunctionSE3 {
 
 protected:
 
  double vmax;
  double wmax;
 
 public:
 
  robLinearSE3( const vctFrame4x4<double>& Rtw1,
        const vctFrame4x4<double>& Rtw2,
        double vmax, double wmax,
        double t1 = 0.0 );
 
  robLinearSE3( const vctFrame4x4<double>& Rtw1,
        const vctFrame4x4<double>& Rtw2,
        double dt = 1.0 );
 
  void Evaluate( double t, 
         vctFrame4x4<double>& Rt, 
         vctFixedSizeVector<double,6>& vw, 
         vctFixedSizeVector<double,6>& vdwd );
 
  void Blend( robFunction* function, double vmax, double vdmax );
 
  robLinearSE3& operator=( const robLinearSE3& function );
 
};
 
#endif