path_point.cpp
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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 


orocos_kdl
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autogenerated on Mon Oct 6 2014 03:11:16