#include <trajectory_segment.hpp>
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, bool _aggregate=true) | |
Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, 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 |
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory
Definition at line 62 of file trajectory_segment.hpp.
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.
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.
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.