KDL  1.4.0
Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
KDL::Trajectory_Segment Class Reference

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...

#include <src/trajectory_segment.hpp>

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Public Member Functions

 Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
 This constructor assumes that geom and <_motprof> are initialised correctly. More...
 
 Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true)
 This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration. More...
 
virtual double Duration () const
 
virtual Frame Pos (double time) const
 
virtual Twist Vel (double time) const
 
virtual Twist Acc (double time) const
 
virtual TrajectoryClone () const
 
virtual void Write (std::ostream &os) const
 
virtual PathGetPath ()
 
virtual VelocityProfileGetProfile ()
 
virtual ~Trajectory_Segment ()
 

Static Public Member Functions

static TrajectoryRead (std::istream &is)
 

Private Attributes

VelocityProfilemotprof
 
Pathgeom
 
bool aggregate
 

Detailed Description

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory.

Constructor & Destructor Documentation

§ Trajectory_Segment() [1/2]

KDL::Trajectory_Segment::Trajectory_Segment ( Path _geom,
VelocityProfile _motprof,
bool  _aggregate = true 
)

This constructor assumes that geom and <_motprof> are initialised correctly.

Referenced by Clone().

§ Trajectory_Segment() [2/2]

KDL::Trajectory_Segment::Trajectory_Segment ( Path _geom,
VelocityProfile _motprof,
double  duration,
bool  _aggregate = true 
)

This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration.

References geom, motprof, KDL::Path::PathLength(), and KDL::VelocityProfile::SetProfileDuration().

§ ~Trajectory_Segment()

KDL::Trajectory_Segment::~Trajectory_Segment ( )
virtual

References aggregate, geom, and motprof.

Referenced by Clone().

Member Function Documentation

§ Acc()

Twist KDL::Trajectory_Segment::Acc ( double  time) const
virtual

§ Clone()

virtual Trajectory* KDL::Trajectory_Segment::Clone ( ) const
inlinevirtual

§ Duration()

double KDL::Trajectory_Segment::Duration ( ) const
virtual

§ GetPath()

Path * KDL::Trajectory_Segment::GetPath ( )
virtual

References geom.

Referenced by Clone().

§ GetProfile()

VelocityProfile * KDL::Trajectory_Segment::GetProfile ( )
virtual

References motprof.

Referenced by Clone().

§ Pos()

Frame KDL::Trajectory_Segment::Pos ( double  time) const
virtual

§ Read()

Trajectory * KDL::Trajectory::Read ( std::istream &  is)
staticinherited

§ Vel()

Twist KDL::Trajectory_Segment::Vel ( double  time) const
virtual

§ Write()

void KDL::Trajectory_Segment::Write ( std::ostream &  os) const
virtual

Member Data Documentation

§ aggregate

bool KDL::Trajectory_Segment::aggregate
private

Referenced by ~Trajectory_Segment().

§ geom

Path* KDL::Trajectory_Segment::geom
private

§ motprof

VelocityProfile* KDL::Trajectory_Segment::motprof
private

The documentation for this class was generated from the following files: