path_point.cpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_point.cxx 00003 00004 path_point.cxx - description 00005 ------------------- 00006 begin : Mon May 10 2004 00007 copyright : (C) 2004 Erwin Aertbelien 00008 email : erwin.aertbelien@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 /***************************************************************************** 00028 * \author 00029 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00030 * 00031 * \version 00032 * ORO_Geometry V0.2 00033 * 00034 * \par History 00035 * - $log$ 00036 * 00037 * \par Release 00038 * $Id: path_point.cpp,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $ 00039 * $Name: $ 00040 ****************************************************************************/ 00041 00042 00043 #include "path_point.hpp" 00044 00045 namespace KDL { 00046 00047 Path_Point::Path_Point(const Frame& startpos) 00048 :F_base_start(startpos) 00049 { 00050 } 00051 00052 double Path_Point::LengthToS(double length) { 00053 return length; 00054 } 00055 double Path_Point::PathLength(){ 00056 return 0; 00057 } 00058 Frame Path_Point::Pos(double s) const { 00059 return F_base_start; 00060 } 00061 00062 Twist Path_Point::Vel(double s,double sd) const { 00063 return Twist::Zero(); 00064 } 00065 00066 Twist Path_Point::Acc(double s,double sd,double sdd) const { 00067 return Twist::Zero(); 00068 } 00069 00070 Path_Point::~Path_Point() { 00071 } 00072 00073 Path* Path_Point::Clone() { 00074 return new Path_Point( F_base_start ); 00075 } 00076 00077 void Path_Point::Write(std::ostream& os) { 00078 os << "POINT[ "<< F_base_start << "]" << std::endl; 00079 } 00080 00081 00082 } 00083