KDL
1.4.0
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Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...
#include <src/trajectory_segment.hpp>
Public Member Functions | |
Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true) | |
This constructor assumes that geom and <_motprof> are initialised correctly. More... | |
Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true) | |
This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration. More... | |
virtual double | Duration () const |
virtual Frame | Pos (double time) const |
virtual Twist | Vel (double time) const |
virtual Twist | Acc (double time) const |
virtual Trajectory * | Clone () const |
virtual void | Write (std::ostream &os) const |
virtual Path * | GetPath () |
virtual VelocityProfile * | GetProfile () |
virtual | ~Trajectory_Segment () |
Static Public Member Functions | |
static Trajectory * | Read (std::istream &is) |
Private Attributes | |
VelocityProfile * | motprof |
Path * | geom |
bool | aggregate |
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory.
KDL::Trajectory_Segment::Trajectory_Segment | ( | Path * | _geom, |
VelocityProfile * | _motprof, | ||
bool | _aggregate = true |
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This constructor assumes that geom and <_motprof> are initialised correctly.
Referenced by Clone().
KDL::Trajectory_Segment::Trajectory_Segment | ( | Path * | _geom, |
VelocityProfile * | _motprof, | ||
double | duration, | ||
bool | _aggregate = true |
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) |
This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration.
References geom, motprof, KDL::Path::PathLength(), and KDL::VelocityProfile::SetProfileDuration().
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virtual |
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virtual |
Implements KDL::Trajectory.
References KDL::VelocityProfile::Acc(), KDL::Path::Acc(), geom, motprof, KDL::VelocityProfile::Pos(), and KDL::VelocityProfile::Vel().
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inlinevirtual |
Implements KDL::Trajectory.
References KDL::VelocityProfile::Clone(), KDL::Path::Clone(), GetPath(), GetProfile(), Trajectory_Segment(), Write(), and ~Trajectory_Segment().
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virtual |
Implements KDL::Trajectory.
References KDL::VelocityProfile::Duration(), and motprof.
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virtual |
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virtual |
Implements KDL::Trajectory.
References geom, motprof, KDL::VelocityProfile::Pos(), and KDL::Path::Pos().
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staticinherited |
References KDL::VelocityProfile::Read(), and KDL::Path::Read().
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virtual |
Implements KDL::Trajectory.
References geom, motprof, KDL::VelocityProfile::Pos(), KDL::VelocityProfile::Vel(), and KDL::Path::Vel().
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virtual |
Implements KDL::Trajectory.
References geom, motprof, KDL::VelocityProfile::Write(), and KDL::Path::Write().
Referenced by Clone().
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private |
Referenced by ~Trajectory_Segment().
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private |
Referenced by Acc(), GetPath(), Pos(), Trajectory_Segment(), Vel(), Write(), and ~Trajectory_Segment().
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private |
Referenced by Acc(), Duration(), GetProfile(), Pos(), Trajectory_Segment(), Vel(), Write(), and ~Trajectory_Segment().