46#ifndef KDL_MOTION_PATH_POINT_H
47#define KDL_MOTION_PATH_POINT_H
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);
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