KDL::Trajectory_Segment Class Reference
[Motion]

#include <trajectory_segment.hpp>

Inheritance diagram for KDL::Trajectory_Segment:

[legend]

List of all members.

Public Member Functions
virtual Twist	Acc (double time) const
virtual Trajectory *	Clone () const
virtual double	Duration () const
virtual Path *	GetPath ()
virtual VelocityProfile *	GetProfile ()
virtual Frame	Pos (double time) const
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true)
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
virtual Twist	Vel (double time) const
virtual void	Write (std::ostream &os) const
virtual	~Trajectory_Segment ()
Private Attributes
bool	aggregate
Path *	geom
VelocityProfile *	motprof

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Detailed Description

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory

Definition at line 62 of file trajectory_segment.hpp.

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Constructor & Destructor Documentation

KDL::Trajectory_Segment::Trajectory_Segment	(	Path *	_geom,
		VelocityProfile *	_motprof,
		bool	_aggregate = true
	)

This constructor assumes that geom and <_motprof> are initialised correctly.

Definition at line 49 of file trajectory_segment.cpp.

KDL::Trajectory_Segment::Trajectory_Segment	(	Path *	_geom,
		VelocityProfile *	_motprof,
		double	duration,
		bool	_aggregate = true
	)

This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration.

Definition at line 55 of file trajectory_segment.cpp.

KDL::Trajectory_Segment::~Trajectory_Segment

(

)

[virtual]

Definition at line 92 of file trajectory_segment.cpp.

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Member Function Documentation

Twist KDL::Trajectory_Segment::Acc

(

double

time

)

const [virtual]

Implements KDL::Trajectory.

Definition at line 78 of file trajectory_segment.cpp.

virtual Trajectory* KDL::Trajectory_Segment::Clone

(

)

const [inline, virtual]

Implements KDL::Trajectory.

Definition at line 90 of file trajectory_segment.hpp.

double KDL::Trajectory_Segment::Duration

(

)

const [virtual]

Implements KDL::Trajectory.

Definition at line 63 of file trajectory_segment.cpp.

Path * KDL::Trajectory_Segment::GetPath

(

)

[virtual]

Definition at line 100 of file trajectory_segment.cpp.

VelocityProfile * KDL::Trajectory_Segment::GetProfile

(

)

[virtual]

Definition at line 104 of file trajectory_segment.cpp.

Frame KDL::Trajectory_Segment::Pos

(

double

time

)

const [virtual]

Implements KDL::Trajectory.

Definition at line 68 of file trajectory_segment.cpp.

Twist KDL::Trajectory_Segment::Vel

(

double

time

)

const [virtual]

Implements KDL::Trajectory.

Definition at line 73 of file trajectory_segment.cpp.

void KDL::Trajectory_Segment::Write

(

std::ostream &

os

)

const [virtual]

Implements KDL::Trajectory.

Definition at line 84 of file trajectory_segment.cpp.

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Member Data Documentation

bool KDL::Trajectory_Segment::aggregate [private]

Definition at line 66 of file trajectory_segment.hpp.

Path* KDL::Trajectory_Segment::geom [private]

Definition at line 65 of file trajectory_segment.hpp.

VelocityProfile* KDL::Trajectory_Segment::motprof [private]

Definition at line 64 of file trajectory_segment.hpp.

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The documentation for this class was generated from the following files:

• trajectory_segment.hpp
• trajectory_segment.cpp