44 #ifndef KDL_MOTION_PATH_H 45 #define KDL_MOTION_PATH_H 81 virtual double LengthToS(
double length) = 0;
94 virtual Frame Pos(
double s)
const = 0;
100 virtual Twist Vel(
double s,
double sd)
const = 0;
106 virtual Twist Acc(
double s,
double sd,
double sdd)
const = 0;
111 virtual void Write(std::ostream& os) = 0;
117 static Path*
Read(std::istream& is);
virtual double LengthToS(double length)=0
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos...
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
static Path * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method) ...
Definition: path.cpp:61
virtual Twist Acc(double s, double sd, double sdd) const =0
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
The specification of the path of a trajectory.
Definition: path.hpp:58
Defines routines for I/O of Frame and related objects.
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
virtual Twist Vel(double s, double sd) const =0
Returns the velocity twist at path length s theta and with derivative of s == sd. ...
virtual void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
virtual ~Path()
Definition: path.hpp:130
IdentifierType
Definition: path.hpp:61
virtual IdentifierType getIdentifier() const =0
gets an identifier indicating the type of this Path object
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual double PathLength()=0
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...