trajectory_composite.hpp
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00001 /*****************************************************************************
00002  *  \author
00003  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00004  *
00005  *  \version
00006  *              LRL V0.2
00007  *
00008  *      \par History
00009  *              - $log$
00010  *
00011  *      \par Release
00012  *              $Id: trajectory_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
00013  *              $Name:  $
00014  ****************************************************************************/
00015 
00016 
00017 #ifndef TRAJECTORY_COMPOSITE_H
00018 #define TRAJECTORY_COMPOSITE_H
00019 
00020 #include "trajectory.hpp"
00021 #include "path_composite.hpp"
00022 #include <vector>
00023 
00024 
00025 
00026 namespace KDL {
00032 class Trajectory_Composite: public Trajectory
00033         {
00034                 typedef std::vector<Trajectory*> VectorTraj;
00035                 typedef std::vector<double>         VectorDouble;
00036                 VectorTraj vt;      // contains the element Trajectories
00037                 VectorDouble  vd;      // contains end time for each Trajectory
00038                 double duration;    // total duration of the composed
00039                                     // Trajectory
00040 
00041         public:
00042                 Trajectory_Composite();
00043                 // Constructs an empty composite
00044 
00045                 virtual double Duration() const;
00046                 virtual Frame Pos(double time) const;
00047                 virtual Twist Vel(double time) const;
00048                 virtual Twist Acc(double time) const;
00049 
00050                 virtual void Add(Trajectory* elem);
00051                 // Adds trajectory <elem> to the end of the sequence.
00052 
00053                 virtual void Destroy();
00054                 virtual void Write(std::ostream& os) const;
00055                 virtual Trajectory* Clone() const;
00056 
00057                 virtual ~Trajectory_Composite();
00058         };
00059 
00060 
00061 }
00062 
00063 #endif


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