45 #ifndef KDL_MOTION_PATH_LINE_H 46 #define KDL_MOTION_PATH_LINE_H 108 const Frame& F_base_end,
111 bool _aggregate=
true);
113 const Twist& twist_in_base,
116 bool _aggregate=
true);
120 virtual Twist Vel(
double s,
double sd)
const ;
121 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
122 virtual void Write(std::ostream& os);
virtual IdentifierType getIdentifier() 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)
A concrete implementation of a 3 dimensional vector class.
double LengthToS(double length)
virtual Frame Pos(double s) const
virtual double PathLength()
represents a frame transformation in 3D space (rotation + translation)
virtual Twist Acc(double s, double sd, double sdd) const
virtual Twist Vel(double s, double sd) const
RotationalInterpolation * orient