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44 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
45 #define KDL_MOTION_TRAJECTORY_SEGMENT_H
62 class Trajectory_Segment :
public Trajectory
77 Trajectory_Segment(Path* _geom, VelocityProfile* _motprof,
double duration,
bool _aggregate=
true);
82 virtual Frame
Pos(
double time)
const;
85 virtual Twist
Vel(
double time)
const;
87 virtual Twist
Acc(
double time)
const;
90 virtual Trajectory*
Clone()
const
97 virtual void Write(std::ostream& os)
const;
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...
virtual Trajectory * Clone() const
Definition: trajectory_segment.hpp:166
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
virtual Path * GetPath()
Definition: trajectory_segment.cpp:138
virtual void Write(std::ostream &os) const =0
Definition: articulatedbodyinertia.cpp:28
VelocityProfile * motprof
Definition: trajectory_segment.hpp:140
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:101
virtual ~Trajectory_Segment()
Definition: trajectory_segment.cpp:130
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
This constructor assumes that geom and <_motprof> are initialised correctly.
Definition: trajectory_segment.cpp:87
virtual double Acc(double time) const =0
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 double Duration() const
Definition: trajectory_segment.cpp:101
virtual void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
virtual Frame Pos(double time) const
Definition: trajectory_segment.cpp:106
virtual VelocityProfile * GetProfile()
Definition: trajectory_segment.cpp:142
virtual VelocityProfile * Clone() const =0
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
bool aggregate
Definition: trajectory_segment.hpp:142
virtual Twist Acc(double time) const
Definition: trajectory_segment.cpp:116
virtual double Vel(double time) const =0
virtual Twist Vel(double time) const
Definition: trajectory_segment.cpp:111
Path * geom
Definition: trajectory_segment.hpp:141
The specification of the path of a trajectory.
Definition: path.hpp:96
virtual double Pos(double time) const =0
virtual void Write(std::ostream &os) const
Definition: trajectory_segment.cpp:122
virtual double Duration() const =0