16 #ifndef TRAJECTORY_STATIONARY_H 17 #define TRAJECTORY_STATIONARY_H 34 duration(_duration),pos(_pos) {}
47 virtual void Write(std::ostream& os)
const;
virtual Frame Pos(double time) const
Definition: trajectory_stationary.hpp:38
virtual void Write(std::ostream &os) const
Definition: trajectory_stationary.cpp:24
virtual double Duration() const
Definition: trajectory_stationary.hpp:35
Frame pos
Definition: trajectory_stationary.hpp:31
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:78
Implements a "trajectory" of a stationary position for an amount of time.
Definition: trajectory_stationary.hpp:28
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
Trajectory_Stationary(double _duration, const Frame &_pos)
Definition: trajectory_stationary.hpp:33
virtual ~Trajectory_Stationary()
Definition: trajectory_stationary.hpp:52
virtual Twist Vel(double time) const
Definition: trajectory_stationary.hpp:41
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual Twist Acc(double time) const
Definition: trajectory_stationary.hpp:44
static Twist Zero()
Definition: frames.hpp:291
double duration
Definition: trajectory_stationary.hpp:30
virtual Trajectory * Clone() const
Definition: trajectory_stationary.hpp:49