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46 #ifndef KDL_MOTION_PATH_POINT_H
47 #define KDL_MOTION_PATH_POINT_H
61 class Path_Point :
public Path
71 virtual Frame
Pos(
double s)
const;
72 virtual Twist
Vel(
double s,
double sd)
const ;
73 virtual Twist
Acc(
double s,
double sd,
double sdd)
const;
74 virtual void Write(std::ostream& os);
75 virtual Path*
Clone();
virtual ~Path_Point()
Definition: path_point.cpp:108
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_point.cpp:90
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_point.cpp:104
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_point.hpp:160
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_point.cpp:100
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_point.cpp:96
Definition: articulatedbodyinertia.cpp:28
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_point.cpp:115
Path_Point(const Frame &F_base_start)
Constructs a Point Path.
Definition: path_point.cpp:85
IdentifierType
Definition: path.hpp:137
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_point.cpp:93
static Twist Zero()
Definition: frames.inl:290
Frame F_base_start
Definition: path_point.hpp:143
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_point.cpp:111
@ ID_POINT
Definition: path.hpp:180