46 #ifndef KDL_MOTION_PATH_POINT_H 47 #define KDL_MOTION_PATH_POINT_H 72 virtual Twist Vel(
double s,
double sd)
const ;
73 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
74 virtual void Write(std::ostream& os);
virtual Twist Vel(double s, double sd) const
Returns the velocity twist at path length s theta and with derivative of s == sd. ...
Definition: path_point.cpp:62
The specification of the path of a trajectory.
Definition: path.hpp:58
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_point.cpp:77
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_point.cpp:58
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos...
Definition: path_point.cpp:52
represents both translational and rotational velocities.
Definition: frames.hpp:720
Path_Point(const Frame &F_base_start)
Constructs a Point Path.
Definition: path_point.cpp:47
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_point.hpp:80
Definition: articulatedbodyinertia.cpp:28
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_point.cpp:55
virtual ~Path_Point()
Definition: path_point.cpp:70
IdentifierType
Definition: path.hpp:61
Frame F_base_start
Definition: path_point.hpp:63
virtual Twist Acc(double s, double sd, double sdd) const
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
Definition: path_point.cpp:66
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_point.cpp:73
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
A Path consisting only of a point in space.
Definition: path_point.hpp:61