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44 #ifndef KDL_MOTION_PATH_CYCLIC_CLOSED_H
45 #define KDL_MOTION_PATH_CYCLIC_CLOSED_H
60 class Path_Cyclic_Closed :
public Path
69 virtual Frame
Pos(
double s)
const;
70 virtual Twist
Vel(
double s,
double sd)
const;
71 virtual Twist
Acc(
double s,
double sd,
double sdd)
const;
73 virtual void Write(std::ostream& os);
74 static Path*
Read(std::istream& is);
75 virtual Path*
Clone();
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_cyclic_closed.cpp:106
virtual Twist Acc(double s, double sd, double sdd) const =0
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
bool aggregate
Definition: path_cyclic_closed.hpp:140
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
@ ID_CYCLIC_CLOSED
Definition: path.hpp:181
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_cyclic_closed.cpp:102
Definition: articulatedbodyinertia.cpp:28
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_cyclic_closed.cpp:120
int times
Definition: path_cyclic_closed.hpp:138
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_cyclic_closed.cpp:116
static Path * Read(std::istream &is)
IdentifierType
Definition: path.hpp:137
virtual ~Path_Cyclic_Closed()
Definition: path_cyclic_closed.cpp:111
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_cyclic_closed.cpp:98
Path * geom
Definition: path_cyclic_closed.hpp:139
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_cyclic_closed.cpp:94
Path_Cyclic_Closed(Path *_geom, int _times, bool _aggregate=true)
Definition: path_cyclic_closed.cpp:86
virtual Twist Vel(double s, double sd) const =0
Returns the velocity twist at path length s theta and with derivative of s == sd.
virtual void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_cyclic_closed.hpp:155
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_cyclic_closed.cpp:89
virtual double PathLength()=0
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...