44 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H 45 #define KDL_MOTION_TRAJECTORY_SEGMENT_H 82 virtual Frame Pos(
double time)
const;
85 virtual Twist Vel(
double time)
const;
87 virtual Twist Acc(
double time)
const;
97 virtual void Write(std::ostream& os)
const;
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
virtual Trajectory * Clone() const
Definition: trajectory_segment.hpp:90
virtual VelocityProfile * GetProfile()
Definition: trajectory_segment.cpp:104
virtual void Write(std::ostream &os) const
Definition: trajectory_segment.cpp:84
The specification of the path of a trajectory.
Definition: path.hpp:58
bool aggregate
Definition: trajectory_segment.hpp:66
Defines routines for I/O of Frame and related objects.
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:78
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual double Duration() const
Definition: trajectory_segment.cpp:63
virtual ~Trajectory_Segment()
Definition: trajectory_segment.cpp:92
Definition: articulatedbodyinertia.cpp:28
virtual Path * GetPath()
Definition: trajectory_segment.cpp:100
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory.
Definition: trajectory_segment.hpp:62
virtual Twist Vel(double time) const
Definition: trajectory_segment.cpp:73
VelocityProfile * motprof
Definition: trajectory_segment.hpp:64
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
This constructor assumes that geom and <_motprof> are initialised correctly.
Definition: trajectory_segment.cpp:49
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
virtual VelocityProfile * Clone() const =0
virtual Frame Pos(double time) const
Definition: trajectory_segment.cpp:68
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
Path * geom
Definition: trajectory_segment.hpp:65
virtual Twist Acc(double time) const
Definition: trajectory_segment.cpp:78