53 V_base_start(startpos.p),
68 if ( alpha != 0 && alpha*
eqradius > dist) {
73 }
else if ( dist != 0 ) {
87 const Twist& starttwist,
111 if ( alpha != 0 && alpha*
eqradius > dist) {
116 }
else if ( dist != 0 ) {
179 os <<
"]" << std::endl;
double Normalize(double eps=epsilon)
Vector vel
The velocity of that point.
virtual RotationalInterpolation * Clone() const =0
Rotation M
Orientation of the Frame.
double Norm(double eps=epsilon) const
Path_Line(const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)
represents both translational and rotational velocities.
virtual void Write(std::ostream &os)
virtual Rotation Pos(double theta) const =0
Vector rot
The rotational velocity of that point.
double LengthToS(double length)
virtual Frame Pos(double s) const
virtual Vector Vel(double theta, double thetad) const =0
virtual double PathLength()
virtual void SetStartEnd(Rotation start, Rotation end)=0
represents a frame transformation in 3D space (rotation + translation)
virtual void Write(std::ostream &os) const =0
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
virtual Twist Acc(double s, double sd, double sdd) const
virtual Twist Vel(double s, double sd) const
static Rotation Rot(const Vector &rotvec, double angle)
RotationalInterpolation * orient