45 #ifndef KDL_VELOCITYPROFILE_H 46 #define KDL_VELOCITYPROFILE_H 48 #include "utilities/utility.h" 49 #include "utilities/utility_io.h" 68 virtual void SetProfile(
double pos1,
double pos2) = 0;
72 double pos1,
double pos2,
double duration) = 0;
81 virtual double Pos(
double time)
const = 0;
85 virtual double Vel(
double time)
const = 0;
89 virtual double Acc(
double time)
const = 0;
93 virtual void Write(std::ostream& os)
const = 0;
virtual ~VelocityProfile()
Definition: velocityprofile.hpp:102
virtual void Write(std::ostream &os) const =0
virtual double Pos(double time) const =0
static VelocityProfile * Read(std::istream &is)
Definition: velocityprofile.cpp:55
virtual void SetProfileDuration(double pos1, double pos2, double duration)=0
Definition: articulatedbodyinertia.cpp:28
virtual double Acc(double time) const =0
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
virtual VelocityProfile * Clone() const =0
virtual double Duration() const =0
virtual double Vel(double time) const =0
virtual void SetProfile(double pos1, double pos2)=0