44#ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
45#define KDL_MOTION_TRAJECTORY_SEGMENT_H
82 virtual Frame Pos(
double time)
const;
85 virtual Twist Vel(
double time)
const;
87 virtual Twist Acc(
double time)
const;
97 virtual void Write(std::ostream& os)
const;
Definition frames.hpp:570
The specification of the path of a trajectory.
Definition path.hpp:59
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory.
Definition trajectory_segment.hpp:63
virtual Path * GetPath()
Definition trajectory_segment.cpp:100
virtual ~Trajectory_Segment()
Definition trajectory_segment.cpp:92
VelocityProfile * motprof
Definition trajectory_segment.hpp:64
bool aggregate
Definition trajectory_segment.hpp:66
Path * geom
Definition trajectory_segment.hpp:65
virtual VelocityProfile * GetProfile()
Definition trajectory_segment.cpp:104
virtual Trajectory * Clone() const
Definition trajectory_segment.hpp:90
virtual double Duration() const
Definition trajectory_segment.cpp:63
virtual Frame Pos(double time) const
Definition trajectory_segment.cpp:68
virtual Twist Vel(double time) const
Definition trajectory_segment.cpp:73
virtual void Write(std::ostream &os) const
Definition trajectory_segment.cpp:84
virtual Twist Acc(double time) const
Definition trajectory_segment.cpp:78
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition trajectory.hpp:79
represents both translational and rotational velocities.
Definition frames.hpp:720
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition velocityprofile.hpp:63
virtual VelocityProfile * Clone() const =0
Defines routines for I/O of Frame and related objects.
Definition articulatedbodyinertia.cpp:26