44#ifndef KDL_MOTION_PATH_H
45#define KDL_MOTION_PATH_H
106 virtual Twist Acc(
double s,
double sd,
double sdd)
const = 0;
111 virtual void Write(std::ostream& os) = 0;
117 static Path*
Read(std::istream& is);
Definition frames.hpp:570
The specification of the path of a trajectory.
Definition path.hpp:59
virtual double PathLength()=0
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
virtual ~Path()
Definition path.hpp:130
static Path * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition path.cpp:60
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 void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
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 Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
IdentifierType
Definition path.hpp:61
@ ID_CIRCLE
Definition path.hpp:63
@ ID_COMPOSITE
Definition path.hpp:64
@ ID_LINE
Definition path.hpp:62
@ ID_ROUNDED_COMPOSITE
Definition path.hpp:65
@ ID_POINT
Definition path.hpp:66
@ ID_CYCLIC_CLOSED
Definition path.hpp:67
virtual IdentifierType getIdentifier() const =0
gets an identifier indicating the type of this Path object
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
represents both translational and rotational velocities.
Definition frames.hpp:720
Defines routines for I/O of Frame and related objects.
virtual double LengthToS(double length)=0
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition articulatedbodyinertia.cpp:26