44 #ifndef KDL_PATHCOMPOSITE_H 45 #define KDL_PATHCOMPOSITE_H 82 double Lookup(
double s)
const;
91 void Add(
Path* geom,
bool aggregate=
true);
112 virtual Twist Vel(
double s,
double sd)
const;
118 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
125 virtual void Write(std::ostream& os);
void Add(Path *geom, bool aggregate=true)
std::vector< std::pair< Path *, bool > > PathVector
virtual Frame Pos(double s) const
virtual Twist Acc(double s, double sd, double sdd) const
virtual double PathLength()
virtual Twist Vel(double s, double sd) const
virtual Path * GetSegment(int i)
std::vector< double > DoubleVector
represents both translational and rotational velocities.
double Lookup(double s) const
virtual void Write(std::ostream &os)
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual int GetNrOfSegments()
represents a frame transformation in 3D space (rotation + translation)
virtual double GetLengthToEndOfSegment(int i)
virtual IdentifierType getIdentifier() const
virtual ~Path_Composite()
virtual double LengthToS(double length)