path_point.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  path_point.h
00003 
00004                         path_point.h -  description
00005                            -------------------
00006     begin                : Mon January 10 2005
00007     copyright            : (C) 2005 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 
00029 /*****************************************************************************
00030 *   ALTERNATIVE FOR trajectory_stationary.h/cpp
00031  *  \author
00032  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00033  *
00034  *  \version
00035 
00036  *              ORO_Geometry V0.2
00037  *
00038  *      \par History
00039  *              - $log$
00040  *
00041  *      \par Release
00042  *              $Id: path_point.h,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
00043  *              $Name:  $
00044  ****************************************************************************/
00045 
00046 #ifndef KDL_MOTION_PATH_POINT_H
00047 #define KDL_MOTION_PATH_POINT_H
00048 
00049 #include "path.hpp"
00050 #include "rotational_interpolation.hpp"
00051 
00052 
00053 namespace KDL {
00054 
00055 
00056 
00061 class Path_Point : public Path
00062         {
00063                 Frame F_base_start;
00064         public:
00068                 Path_Point(const Frame& F_base_start);
00069                 double LengthToS(double length);
00070                 virtual double PathLength();
00071                 virtual Frame Pos(double s) const;
00072                 virtual Twist Vel(double s,double sd) const ;
00073                 virtual Twist Acc(double s,double sd,double sdd) const;
00074                 virtual void Write(std::ostream& os);
00075                 virtual Path* Clone();
00076 
00080                 virtual IdentifierType getIdentifier() const {
00081                         return ID_POINT;
00082                 }
00083                 virtual ~Path_Point();
00084         };
00085 
00086 }
00087 
00088 
00089 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14