trajectory_segment.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  trajectory_segment.h
00003 
00004                         trajectory_segment.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  *  \author
00031  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00032  *
00033  *  \version
00034  *              ORO_Geometry V0.2
00035  *
00036  *      \par History
00037  *              - $log$
00038  *
00039  *      \par Release
00040  *              $Id: trajectory_segment.h,v 1.1.1.1.2.5 2003/07/23 16:44:26 psoetens Exp $
00041  *              $Name:  $
00042  ****************************************************************************/
00043 
00044 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
00045 #define KDL_MOTION_TRAJECTORY_SEGMENT_H
00046 
00047 #include "frames.hpp"
00048 #include "frames_io.hpp"
00049 #include "trajectory.hpp"
00050 #include "path.hpp"
00051 #include "velocityprofile.hpp"
00052 
00053 
00054 namespace KDL {
00055 
00056 
00062         class Trajectory_Segment :  public Trajectory
00063         {
00064                 VelocityProfile* motprof;
00065                 Path*      geom;
00066                 bool aggregate;
00067         public:
00071                 Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate=true);
00072 
00077                 Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double duration, bool _aggregate=true);
00078 
00079                 virtual double Duration() const;
00080                 // The duration of the trajectory
00081 
00082                 virtual Frame Pos(double time) const;
00083                 // Position of the trajectory at <time>.
00084 
00085                 virtual Twist Vel(double time) const;
00086                 // The velocity of the trajectory at <time>.
00087                 virtual Twist Acc(double time) const;
00088                 // The acceleration of the trajectory at <time>.
00089 
00090                 virtual Trajectory* Clone() const
00091                         {
00092                                 if ( aggregate )
00093                                         return new Trajectory_Segment( geom->Clone(), motprof->Clone(), true );
00094                                 return new Trajectory_Segment( geom, motprof, false );
00095                         }
00096 
00097                 virtual void Write(std::ostream& os) const;
00098 
00099             virtual Path* GetPath();
00100 
00101             virtual VelocityProfile* GetProfile();
00102 
00103 
00104                 virtual ~Trajectory_Segment();
00105         };
00106 
00107 
00108 
00109 }
00110 
00111 
00112 #endif


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