45 #ifndef KDL_MOTION_PATH_LINE_H 46 #define KDL_MOTION_PATH_LINE_H 108 const Frame& F_base_end,
111 bool _aggregate=
true);
113 const Twist& twist_in_base,
116 bool _aggregate=
true);
120 virtual Twist Vel(
double s,
double sd)
const ;
121 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
122 virtual void Write(std::ostream& os);
double scalerot
Definition: path_line.hpp:74
Vector V_start_end
Definition: path_line.hpp:67
Vector V_base_end
Definition: path_line.hpp:66
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_line.cpp:135
Vector V_base_start
Definition: path_line.hpp:65
The specification of the path of a trajectory.
Definition: path.hpp:58
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:62
Path_Line(const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)
Constructs a Line Path F_base_start and F_base_end give the begin and end frame wrt the base orient g...
Definition: path_line.cpp:47
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_line.cpp:173
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos...
Definition: path_line.cpp:129
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_line.hpp:128
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_line.cpp:143
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_line.cpp:153
bool aggregate
Definition: path_line.hpp:76
A path representing a line from A to B.
Definition: path_line.hpp:59
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_line.cpp:132
IdentifierType
Definition: path.hpp:61
double pathlength
Definition: path_line.hpp:72
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual ~Path_Line()
Definition: path_line.cpp:148
RotationalInterpolation * orient
Definition: path_line.hpp:62
double eqradius
Definition: path_line.hpp:69
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_line.cpp:139
double scalelin
Definition: path_line.hpp:73