44 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H 45 #define KDL_MOTION_ROUNDEDCOMPOSITE_H 109 void Add(
const Frame& F_base_point);
138 virtual Twist Vel(
double s,
double sd)
const;
144 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
156 virtual void Write(std::ostream& os);
void Add(const Frame &F_base_point)
virtual ~Path_RoundedComposite()
virtual IdentifierType getIdentifier() const
virtual Twist Acc(double s, double sd, double sdd) const
virtual double LengthToS(double length)
virtual double PathLength()
represents both translational and rotational velocities.
virtual int GetNrOfSegments()
virtual Path * GetSegment(int i)
Path_RoundedComposite(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)
virtual Twist Vel(double s, double sd) const
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual void Write(std::ostream &os)
represents a frame transformation in 3D space (rotation + translation)
virtual Frame Pos(double s) const
RotationalInterpolation * orient
virtual double GetLengthToEndOfSegment(int i)