48 :F_base_start(startpos)
virtual Frame Pos(double s) const
virtual Twist Acc(double s, double sd, double sdd) const
virtual void Write(std::ostream &os)
double LengthToS(double length)
represents both translational and rotational velocities.
Path_Point(const Frame &F_base_start)
virtual double PathLength()
virtual Twist Vel(double s, double sd) const
represents a frame transformation in 3D space (rotation + translation)