Actin®  Version 5.3.0
Software for Robotics Simulation and Control
ecEndEffectorMotionMovePath.h
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1 #ifndef ecEndEffectorMotionMovePath_H_
2 #define ecEndEffectorMotionMovePath_H_
3 //------------------------------------------------------------------------------
4 // Copyright (c) 2019 Energid Technologies. All rights reserved.
5 //
9 //
10 //------------------------------------------------------------------------------
11 #include <actinCore/actinCore_config.h> // Required to be first header.
13 #include "ecMotionScriptString.h"
14 
16 class EC_ACTINCORE_MOTIONPLANNING_DECL EcEndEffectorMotionMovePath : public EcEndEffectorMotionInterpolatedPoseSequence
17 {
18 public:
21  EcBoolean loadGCodeFile
22  (
23  const EcString& fileName,
24  const EcReal speedFactor,
25  const EcReal accelerationFactor,
26  const EcReal blendRadius
27  );
28 
30  EcBoolean loadActinToolPathFile
31  (
32  const EcString& fileName,
33  const EcReal speedFactor,
34  const EcReal accelerationFactor,
35  const EcReal blendRadius
36  );
37 
40  (
41  );
42 
44  static const EcString& scriptToken
45  (
46  );
47 
49  virtual const EcString& token
50  (
51  ) const EC_OVERRIDE;
52 
54  virtual EcBoolean read
55  (
56  const EcMotionScriptTokenTree& tokenTree,
57  EcString* pErrorMsg
58  ) EC_OVERRIDE;
59 
61  virtual EcString write
62  (
63  ) const EC_OVERRIDE;
64 
65 private:
66  EcMotionScriptString m_FileName;
67  EcMotionScriptRealObjectSharedPtr m_pSpeedFactor;
68  EcMotionScriptRealObjectSharedPtr m_pAccelerationFactor;
69  EcMotionScriptRealObjectSharedPtr m_pBlendRadius;
70 };
71 
72 #endif // ecEndEffectorMotionMovePath_H_
Holds a string literal for motion script.
#define EC_OVERRIDE
Add wrapper around c++11 override keyword.
Definition: ecMacros.h:36
motion script token tree
virtual EcBoolean read(const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg) EC_OVERRIDE
read list
virtual const EcString & token() const EC_OVERRIDE
token
static const EcString & scriptToken()
script token
static EcMotionScriptObject * newObject()
motion script object creator
Configuration header for the foundation hierarchy.
bool EcBoolean
Boolean (0 or 1)
Definition: ecTypes.h:21
boost::shared_ptr< EcMotionScriptRealObject > EcMotionScriptRealObjectSharedPtr
typedef of shared pointers
virtual EcString write() const EC_OVERRIDE
write to script
Base motion script object class.
EcF64 EcReal
Alias for 64-bit float.
Definition: ecTypes.h:30
std::basic_string< char > EcString
a character string
Definition: ecTypes.h:116
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