84 virtual Frame Pos(
double time)
const = 0;
87 virtual Twist Vel(
double time)
const = 0;
89 virtual Twist Acc(
double time)
const = 0;
93 virtual void Write(std::ostream& os)
const = 0;
virtual Trajectory * Clone() const =0
virtual void Write(std::ostream &os) const =0
virtual Twist Acc(double time) const =0
static Trajectory * Read(std::istream &is)
Definition: trajectory.cpp:57
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 Twist Vel(double time) const =0
Definition: articulatedbodyinertia.cpp:28
virtual ~Trajectory()
Definition: trajectory.hpp:95
virtual Frame Pos(double time) const =0
virtual double Duration() const =0
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570