44 #ifndef KDL_MOTION_PATH_H 45 #define KDL_MOTION_PATH_H 81 virtual double LengthToS(
double length) = 0;
94 virtual Frame Pos(
double s)
const = 0;
100 virtual Twist Vel(
double s,
double sd)
const = 0;
106 virtual Twist Acc(
double s,
double sd,
double sdd)
const = 0;
111 virtual void Write(std::ostream& os) = 0;
117 static Path*
Read(std::istream& is);
virtual double LengthToS(double length)=0
static Path * Read(std::istream &is)
virtual Twist Acc(double s, double sd, double sdd) const =0
virtual Frame Pos(double s) const =0
represents both translational and rotational velocities.
virtual Twist Vel(double s, double sd) const =0
virtual void Write(std::ostream &os)=0
virtual IdentifierType getIdentifier() const =0
represents a frame transformation in 3D space (rotation + translation)
virtual double PathLength()=0