trajectory_stationary.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_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
00013  *              $Name:  $
00014  ****************************************************************************/
00015 
00016 #ifndef TRAJECTORY_STATIONARY_H
00017 #define TRAJECTORY_STATIONARY_H
00018 
00019 #include "trajectory.hpp"
00020 
00021 
00022 namespace KDL {
00028         class Trajectory_Stationary : public Trajectory
00029           {
00030                 double duration;
00031                 Frame pos;
00032         public:
00033                 Trajectory_Stationary(double _duration,const Frame& _pos):
00034                   duration(_duration),pos(_pos) {}
00035                 virtual double Duration() const {
00036                         return duration;
00037                 }
00038                 virtual Frame Pos(double time) const {
00039                         return pos;
00040                 }
00041                 virtual Twist Vel(double time) const {
00042                         return Twist::Zero();
00043                 }
00044                 virtual Twist Acc(double time) const {
00045                         return Twist::Zero();
00046                 }
00047                 virtual void Write(std::ostream& os) const;
00048 
00049                 virtual Trajectory* Clone() const {
00050                         return new Trajectory_Stationary(duration,pos);
00051                 }
00052                 virtual ~Trajectory_Stationary() {}
00053         };
00054 
00055 
00056 }
00057 
00058 #endif


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