KDL 1.5.1
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path_point.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_point.h
3
4 path_point.h - description
5 -------------------
6 begin : Mon January 10 2005
7 copyright : (C) 2005 Erwin Aertbelien
8 email : erwin.aertbelien@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29/*****************************************************************************
30* ALTERNATIVE FOR trajectory_stationary.h/cpp
31 * \author
32 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
33 *
34 * \version
35
36 * ORO_Geometry V0.2
37 *
38 * \par History
39 * - $log$
40 *
41 * \par Release
42 * $Id: path_point.h,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
43 * $Name: $
44 ****************************************************************************/
45
46#ifndef KDL_MOTION_PATH_POINT_H
47#define KDL_MOTION_PATH_POINT_H
48
49#include "path.hpp"
51
52
53namespace KDL {
54
55
56
61class Path_Point : public Path
62 {
64 public:
69 double LengthToS(double length);
70 virtual double PathLength();
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();
76
80 virtual IdentifierType getIdentifier() const {
81 return ID_POINT;
82 }
83 virtual ~Path_Point();
84 };
85
86}
87
88
89#endif
Definition: frames.hpp:570
A Path consisting only of a point in space.
Definition: path_point.hpp:62
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_point.hpp:80
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_point.cpp:55
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_point.cpp:73
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:66
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:62
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_point.cpp:52
Frame F_base_start
Definition: path_point.hpp:63
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_point.cpp:77
virtual ~Path_Point()
Definition: path_point.cpp:70
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_point.cpp:58
The specification of the path of a trajectory.
Definition: path.hpp:59
IdentifierType
Definition: path.hpp:61
@ ID_POINT
Definition: path.hpp:66
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26